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Commit Graph

7442 Commits

Author SHA1 Message Date
Randy Mackay
54582814aa Copter: use SID_AXIS to hide other SystemID mode params 2019-12-03 14:53:55 +08:00
Randy Mackay
36fdad4e61 Copter: scripting init sends failure message 2019-12-03 12:48:32 +08:00
Randy Mackay
2c3beb0f91 Copter: add mandatory gps checks 2019-12-03 08:06:39 +08:00
Peter Barker
2296448027 Copter: make private enum class for LAND mode's state 2019-12-03 07:38:22 +08:00
Peter Barker
a58813c828 Copter: precland: don't use altitude from bad location 2019-12-02 16:13:49 +08:00
Peter Barker
62869b5be8 Copter: vehicle parent class now instantiates AHRS 2019-12-02 09:16:22 +11:00
Gone4Dirt
180d4e713c Copter: Added autorotation flight mode and support 2019-11-29 08:06:10 +08:00
Peter Barker
46832e9dee Copter: rename system_status as it won't be called from base class 2019-11-27 14:27:53 +11:00
Marian Soban
278737fc8e Copter: LTM telemetry support 2019-11-26 12:14:13 +11:00
Randy Mackay
2cfdfb38e7 Copter: pre-arm check for Toshiba ESCs disabled with parameter flag 2019-11-26 11:56:33 +11:00
Peter Barker
bd7dfd0aea ArduCopter: use enum-class for SRV_CHANNEL_LIMIT_TRIM and friends 2019-11-26 10:17:17 +11:00
Andrew Tridgell
68bb7a516b Copter: use HarmonicNotchDynamicMode enum class 2019-11-19 07:08:01 +08:00
Bogdan Grigoruta
5183703243 Copter: move Mode::auto_takeoff_run to takeoff.cpp 2019-11-18 09:14:08 +09:00
Randy Mackay
496989820e Copter: update proximity sensor at 200hz 2019-11-15 12:25:53 +08:00
Randy Mackay
610366e4bd Copter: init aux function cases in alphabetical order 2019-11-12 18:56:13 +11:00
Peter Barker
5d1261da73 Copter: rename parameter to avoid name conflict with lock 2019-11-12 16:33:12 +11:00
Henry Wurzburg
4a51de724d Copter: move support for ADSB Avoidance enable up to RC_Channel 2019-11-12 13:48:09 +11:00
Randy Mackay
adc1d60ea5 Copter: CTUN logging fix for SAlt 
sonar altitude was not being logged in modes that don't use surface tracking including Auto
SAlt scaling was also incorrect
 2019-11-12 09:10:21 +08:00
Randy Mackay
b16d0740c8 Copter: fix CTUN log msg TAlt scaling 2019-11-12 09:10:21 +08:00
Randy Mackay
de5945bea5 Copter: use const reference when retrieving wpnav destination 2019-11-12 08:50:05 +08:00
Randy Mackay
d0d07776ec Copter: auto stays in takeoff submode after reaching altitude 2019-11-12 08:50:05 +08:00
Peter Barker
afdded2bff Copter: adjust for renaming of RangeFinder files 2019-11-12 07:14:37 +08:00
Randy Mackay
5276e67cec Copter: minor format fix for takeoff.cpp 2019-11-11 17:19:28 +09:00
Leonard Hall
ffd838d908 Copter: Delay release of I term until take off 2019-11-09 09:40:10 +08:00
Peter Barker
dfc8349866 Copter: use enum-class for RangeFinder Status 2019-11-09 08:01:53 +11:00
Mark Whitehorn
6dd28f7d74 ArduCopter: change in_sensor_config_error to in_config_error 2019-11-08 10:14:34 +11:00
bnsgeyer
b5d21a71ef Copter:Tradheli treat Sport mode as non-man throttle for landing swash 2019-11-06 16:36:35 +11:00
Peter Barker
201adb6818 Copter: correct Heli compilation when some modes are disabled 2019-11-06 16:36:35 +11:00
Peter Barker
d1b402ab04 Copter: correct compilation with toymode enabled 2019-11-06 16:36:35 +11:00
Peter Barker
0ab9ddd600 Copter: correct compilation when fence disabled 2019-11-06 16:36:35 +11:00
Peter Barker
843e48c635 Copter: correct compilation when avoidance disabled 2019-11-06 16:36:35 +11:00
Peter Barker
94222d0195 Copter: correct compilation when rangefinder tilt correction disabled 2019-11-06 16:36:35 +11:00
Peter Barker
81f0141da5 Copter: correct compilation when AdvancedFailsafe is disabled 2019-11-06 16:36:35 +11:00
Peter Barker
d652bd4455 Copter: correct compilation when optical flow is disabled 2019-11-06 16:36:35 +11:00
Peter Barker
38d3c2daa1 Copter: stop providing current location to mount 2019-11-05 19:55:45 +11:00
Peter Barker
976acb3a58 Copter: let GCS superclass specify compass and param float capabilitiy 2019-11-05 11:26:23 +11:00
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
Randy Mackay
105b7d79e1 Copter: 4.0.0-rc2 release notes 2019-11-04 15:56:47 +09:00
Matt Lawrence
f71ef4c7ab Copter: Refactor failsafes, add fs_options bitmask parameter 
- Radio failsafe, battery failsafe, GCS failsafe refactoring
- Add new FS_OPTIONS parameter
- Enhance GCS Failsafe abilities
 2019-11-03 07:07:34 +08:00
Andrew Tridgell
93671445d6 ArduCopter: moved AC_PID dependency to core 2019-11-02 16:31:04 +11:00
Randy Mackay
527e76a047 Copter: add pre-arm check that ToshibaCAN ESCs are present 2019-11-01 16:09:52 +08:00
Peter Barker
5ece75a09a Copter: AC_AutoTune writes events itself now 2019-11-01 14:47:52 +08:00
Leonard Hall
e7f94fc810 Copter: limit ATC_MOT_MIX_MAX in case of a fly away 2019-10-31 12:23:48 +08:00
Peter Barker
7944692de6 Copter: Proximity uses rangefinder singleton 2019-10-31 11:58:15 +08:00
Peter Barker
2a312aa8f1 Copter: stop passing serial manager to proximity constructor 2019-10-31 11:58:15 +08:00
Andy Piper
ac071df104 ArduCopter: add support for BLHeli telemetry-based updates to the harmonic notch 
refactor to include RPM for all copter types
 2019-10-31 11:18:40 +08:00
Randy Mackay
f0084f743d Copter: fix PSC_ACCZ_FILT to _FLTE param conversion 2019-10-29 12:25:57 +08:00
Randy Mackay
1aabbae8bc Copter: update 4.0.0-rc1 release notes 2019-10-26 10:44:10 +09:00
Randy Mackay
42d8bcc44f Copter: 4.0.0-rc1 release notes 2019-10-26 10:44:08 +09:00
Peter Barker
b6920e14c8 Copter: remove redundant SurfaceTracking enumeration namespacing 
Also rename State to Surface to be more specific about what is being
set/tracked.
 2019-10-26 08:08:22 +08:00
Randy Mackay
85f963b961 Copter: multicopter ATC_RAT_RLL/PIT_FILT copied to FLTD and FLTT 2019-10-25 12:28:00 +08:00
Michael du Breuil
b42b1c08c4 Copter: Support new AP_Vehicle::set_mode 2019-10-25 08:48:22 +08:00
Peter Barker
9c57862ec6 Copter: use ahrs singleton to log ATT, POS and AHRS2 2019-10-24 13:15:46 +11:00
Randy Mackay
8724e2f160 Copter: minor comment change 2019-10-22 07:15:48 +08:00
Peter Barker
f7ba79e493 Copter: canonicalize on STANDBY rather than STANDY_BY 2019-10-21 21:22:17 +08:00
Peter Barker
198c93e479 Copter: correct use of nanf 2019-10-18 13:52:07 +09:00
Randy Mackay
7b0da89708 Copter: add vibration check 2019-10-18 11:15:25 +09:00
Leonard Hall
50a098c359 Copter: Standby functions 2019-10-17 14:57:18 +09:00
Peter Barker
1968a4cfb1 Copter: correct compilation when SYSTEMID mode is disabled 2019-10-16 15:36:04 +11:00
Andrew Tridgell
faa4f57e61 Copter: remove AP_ADSB from wscript 2019-10-16 13:13:24 +11:00
Randy Mackay
2cb3e446ab Copter: systemid mode formatting and name changes 2019-10-16 08:17:09 +09:00
Leonard Hall
c11f2247eb Copter: System ID mode 2019-10-16 08:17:09 +09:00
Leonard Hall
91be844b66 Copter: Let modes stop Attitude Logging 2019-10-16 08:17:09 +09:00
Andy Piper
7fd22f63a9 ArduCopter: allow logging of both IMU and IMU_RAW 
allow logging of both IMU and IMU_RAW at the same time so that filtering and errors can be seen
 2019-10-15 10:10:32 +11:00
Randy Mackay
36327d56de Copter: reject reboot request from GCS if auto esc cal on next reboot 
this resolves an edge case in which the motors could spin up on the next reboot because the user didn't unplug the battery to reboot the flight controller
 2019-10-15 07:41:44 +09:00
Andy Piper
8ce7f02167 ArduCopter: add functions to update dynamic notch frequency. Periodically log the frequency. 
tradheli- make RPM sensor input to harmonic notch in hertz
 2019-10-10 20:26:02 +09:00
Peter Barker
9e5d5c023c Copter: move many members up to base class 2019-10-08 11:26:04 +11:00
Peter Barker
95f81297d9 Copter: become an AP_Vehicle 2019-10-08 11:26:04 +11:00
Peter Barker
bfbb482919 Copter: remove bogus ARMING_CHECK_NONE 'bitmask value' 2019-10-08 10:31:07 +11:00
murata
abb91fc33a Copter: Change external button specification to option 
Copter: Change the definition name from BUTTON to BUTTON_ENABLED.
 2019-10-08 08:09:19 +09:00
Randy Mackay
ca92f0505e Copter: follow mode restores offsets to zero on exit 2019-10-07 08:30:45 +09:00
chobits
5a0fe4e322 Copter: do not speed up EKF failsafe if optflow works 2019-10-04 11:15:38 +09:00
Randy Mackay
6e27d49f24 Copter: add pre-arm check of PILOT_SPEED_UP param 2019-10-03 07:16:35 +09:00
Randy Mackay
9464a429f8 Copter: 3.6.11 release notes 2019-10-02 06:38:59 +09:00
Randy Mackay
9d5cbbe58f Copter: restore range finder updates to 20hz 2019-09-28 11:13:14 +09:00
Randy Mackay
a5d0f55bdc Copter: upward surface tracking never closer than avoidance margin 2019-09-28 11:13:14 +09:00
Randy Mackay
1c4f47f882 Copter: add upward facing surface tracking 2019-09-28 11:13:14 +09:00
Randy Mackay
5d24d0e4dd Copter: surface tracking always includes ekf alt error when setting target rangefinder alt 2019-09-28 11:13:14 +09:00
Randy Mackay
d5d7fbe761 Copter: rangefinder glitch detection moved to read_rangefinder 2019-09-28 11:13:14 +09:00
Randy Mackay
808efa4c79 Copter: surface tracking format fixes 2019-09-28 11:13:14 +09:00
Randy Mackay
d41e7dcbee Copter: move surface tracking implementation to surface_tracking.cpp 2019-09-28 11:13:14 +09:00
Randy Mackay
b54cf410ef Copter: increase read_rangefinder to 50hz 2019-09-28 11:13:14 +09:00
Peter Barker
4d6dc9b0a7 Copter: call periodic fence update function 2019-09-28 07:58:48 +09:00
Peter Barker
e5fa8f622b Copter: initialise AC_Fence library 2019-09-28 07:58:48 +09:00
bnsgeyer
aef04fd924 Copter: tradheli update conversion 2019-09-25 14:59:02 +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
a5f4a102d7 Copter: stop compiling in AP_Buffer 2019-09-24 09:36:33 +10:00
Randy Mackay
5a1a10b03f Copter: update 3.6.11-rc1 release notes 2019-09-23 13:39:34 +09:00
Randy Mackay
23e92d4fa5 Copter: 3.6.11-rc1 release notes 2019-09-23 13:39:30 +09:00
Andrew Tridgell
c40e0ffb6b Copter: fixed EKF threshold for arming 
when EKF failsafe is disabled by setting threshold to zero we need to
disable this arming check
 2019-09-23 09:48:39 +09:00
Peter Barker
9b398e8765 Copter: remove stale enum entries for log message types 2019-09-18 15:02:57 +10:00
Peter Barker
0031deb175 Copter: correct abs vs fabsf usage in Attitude 2019-09-18 12:57:02 +10:00
Peter Barker
a1ce8dafb0 Copter: wrap_180_cd no longer returns floats for integer arguments 2019-09-18 12:57:02 +10:00
Randy Mackay
cba03da59a Copter: version to 4.0.0-dev 2019-09-17 11:39:47 +09:00
Randy Mackay
bce5154b2d Copter: compassmot and motor_test set_soft_armed 2019-09-17 11:26:57 +09:00
Peter Barker
1b29cf14a6 Copter: remove get_advanced_failsafe override; singleton to be used 2019-09-17 09:13:43 +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
bnsgeyer
23d4473f88 Copter: tradheli-properly upgrade rsc parameters 2019-09-13 08:53:54 +09:00
Randy Mackay
1818360519 Copter: land mode inits auto yaw 2019-09-12 09:20:39 +09:00
Randy Mackay
8a20d37799 Copter: zigzag smoother stops on terrain failure 2019-09-11 19:41:35 +09:00
Randy Mackay
6ddaf81439 Copter: param conversion for INS_NOTCH_FREQ and BW 2019-09-11 18:41:05 +10:00
bnsgeyer
f84dac85ea Copter: tradheli-dualheli swashplate type upgrade conversion fix 2019-09-10 15:02:34 +09:00
bnsgeyer
a849aab4c7 Copter: tradheli-singleheli swashplate type upgrade conversion fix 2019-09-10 15:02:34 +09:00
Peter Barker
e497b13b4a Copter: remove ineffective DEVO_TELEM_ENABLED 2019-09-04 17:47:33 +10:00
Peter Barker
ab7b4616ff Copter: let GCS base class handle fence sys_status bits 2019-09-03 09:12:24 +10:00
Peter Hall
e1b982c99c Copter: RC_Channel: remove fence 2019-09-02 11:03:27 +09:00
Peter Barker
a9ffe902f0 Copter: mount uses AP_SerialManager singleton 2019-08-28 06:55:28 +10:00
Peter Barker
0ce3cd06b0 Copter: fix compilation when drift mode is disabled 2019-08-27 09:43:47 +10:00
Leonard Hall
8b7fe2ac12 Copter: Acro_Balance update 2019-08-23 10:59:29 +09:00
Peter Barker
87a1efeb45 Copter: add assertion that guided is enabled if guided-nogps is enabled 2019-08-22 17:47:45 +01:00
Peter Barker
f8f5e7f5ae Copter: correct compilation when guided mode is disabled 2019-08-22 17:47:45 +01:00
Peter Barker
3c6b67349f Copter: correct build when AFS disabled 2019-08-22 10:49:43 +09:00
Peter Barker
c0774e74e0 Copter: fix format-string compilation warning 
../../ArduCopter/mode_auto.cpp: In member function 'void ModeAuto::do_nav_delay(const AP_Mission::Mission_Command&)':
../../ArduCopter/mode_auto.cpp:1372:84: warning: format '%u' expects argument of type 'unsigned int', but argument 4 has type 'long unsigned int' [-Wformat=]
     gcs().send_text(MAV_SEVERITY_INFO, "Delaying %u sec",nav_delay_time_max_ms/1000);
                                                                                    ^

This is with a mini-pix build.
 2019-08-21 18:48:45 +09:00
Tom Pittenger
0983a04d52 Copter: NAV_Delay variable timers to be all unsigned and labeled as _ms 2019-08-19 15:24:06 -07:00
Peter Barker
4b870d752f Copter: fix toy-mode build 
handle_message changed signature a few months ago but this is protected
by pragmas such that it is only ubild on SkyViper
 2019-08-19 14:36:16 +10:00
Peter Barker
b9a387ed9e Copter: stop updating sensor status flags 
These are updated as required in the gcs library itself.
 2019-08-17 17:45:03 +10:00
Randy Mackay
709c874d8b Copter: integrate AP_OAPathPlanner 2019-08-17 09:42:43 +09:00
Peter Barker
48a1b2f436 Copter: avoid allocate a GCS_MAVLINK per mavlink channel 2019-08-14 18:25:43 +10:00
Randy Mackay
a3bde4f054 Copter: pre-arm check for ToshibaCAN ESC pwm range 2019-08-14 13:29:14 +09:00
Peter Barker
4fa83ed40d Copter: move automatic declination setting into AP_Compass itself 2019-08-13 10:02:13 +10:00
Randy Mackay
41f538e039 Copter: simplify DEVO_TELEM_ENABLED definition 2019-08-09 23:07:06 +09:00
Peter Barker
c0e8d319c6 Copter: make surface tracking adjust_climb_rate take a float 
Its callers all pass in floats and we return a float, so stop going via
an int16_t
 2019-08-06 14:09:09 +09:00
Peter Barker
b0428f0fe8 Copter: make surface_tracking a class, various functions methods 2019-08-06 14:09:09 +09:00
Bill Geyer
c8b547a8e4 Copter: tradheli-remove snprintf statements 2019-08-06 08:24:59 +09:00
bnsgeyer
5eb5277f4c Copter: tradheli-converts swashplate to H3-120 on upgrade based on old params 2019-08-06 08:24:59 +09:00
Peter Barker
6f4167b85b Copter: pass format string through to check_failed 2019-08-05 14:18:05 +10:00
hoangthien94
6d8a1bbe81 Copter: bypass compass healthy check when ext nav data is available for heading 2019-08-03 08:44:11 +09:00
Peter Barker
18de327e7f Copter: tighten type on mavlink_coordinate_frame_to_location_alt_frame 2019-08-01 17:45:30 +10:00
Peter Barker
5538800ad0 Copter: use MAV_FRAME_GLOBAL instead of MAV_FRAME_GLOBAL_INT in send_position_target 2019-07-30 10:55:21 +10:00
liang
e422f2b2fd Copter: mode_auto: retract the landing gear automatically 2019-07-30 09:46:18 +09:00
Michael du Breuil
599a1af5c1 Copter: Convert ARMING_CHECK 2019-07-30 10:42:16 +10:00
Michael du Breuil
ed2ae707f4 Copter: Add keydump feature 2019-07-30 10:42:16 +10:00
Randy Mackay
8e095d4a81 Copter: avoid terrain failsafe from a single out-of-range rangefinder reading 2019-07-29 16:01:52 +09:00
Randy Mackay
67ff96d8de Copter: 3.6.10 release notes 2019-07-29 12:34:26 +09:00
Leonard Hall
f128e93ec5 Copter: support for upgrade to PID object 2019-07-25 17:38:15 +09:00
Leonard Hall
157f786adf Global: rename desired to target in PID info 2019-07-25 17:38:15 +09:00
Randy Mackay
eed19a9262 Copter: 3.6.10-rc2 release notes 2019-07-22 18:19:41 +09:00
Randy Mackay
eb433508f1 Copter: esc cal startup check moved outside rc output init 
this ensures we don't accidentally enter esc calibration during motor test
 2019-07-22 14:53:36 +09:00
Leonard Hall
c56acb49d6 Copter: Add missing Loiter initialisation lines. 
This command is missing to define the desired acceleration that loiter will initalise to.
loiter_nav->clear_pilot_desired_acceleration();
 2019-07-20 16:40:51 +09:00
misswhile
15a326bade Copter: fixed can't enter esc calibration by RC. 2019-07-18 16:54:16 +09:00
Leonard Hall
0e34d8b1ff Copter: PosHold fix for low brake_rate 2019-07-18 11:13:51 +09:00
Randy Mackay
b7a748df88 Copter: auto's wp_start accepts terrain alts 2019-07-18 09:01:09 +09:00
Pierre Kancir
c330b87592 ArduCopter: pass mavlink_message_t by const reference 2019-07-16 20:51:42 +10:00
Michael du Breuil
e0d7b71e95 Copter: Reduce dependency on inertial nav 2019-07-16 12:11:42 +09:00
Peter Barker
97bb846310 Copter: RangeFinder uses AP_SerialManager singleton 2019-07-16 09:29:48 +10:00
Peter Barker
9412075b9c Copter: avoidance no longer takes ahrs in constructor 2019-07-16 09:29:48 +10:00
Peter Barker
4b51239920 Copter: move mission reset aux switch option to RC_Channel 2019-07-16 09:24:18 +10:00
Michael du Breuil
b07d65c1f3 Copter: Refactor battery current monitoring 2019-07-14 00:28:00 -07:00
Peter Barker
eb9e65fd28 Copter: add GUIDED_NOGPS to failsafe checks 2019-07-10 16:55:23 +09:00
Peter Barker
567ba799f1 Copter: rewrite gcs-failsafe check for clarity 2019-07-10 16:55:23 +09:00
Peter Barker
6435a867f5 Copter: split RC_CHANNELS messages onto separate ap_message ids 2019-07-09 13:08:45 +10:00
Peter Barker
332e878bae Copter: correct nullptr dereference in sensor-config error loop 2019-07-09 10:01:23 +10:00
Peter Barker
e977fce3ad Copter: stop passing relay and ahrs into camera constructor 2019-07-09 09:32:39 +10:00
Peter Barker
05925b57ad Copter: mark position_ok methods as const 2019-07-09 09:26:45 +10:00
Randy Mackay
4d19d65047 Copter: 3.6.10-rc1 release notes 2019-07-08 14:26:43 +09:00
Peter Barker
cd2ec1f57f Copter: remove set_default_dead_zone statement with no effect 
This is immediately undone in the unconditional code below the #if
 2019-07-08 09:26:02 +09:00
Peter Barker
ebbd2b971b Copter: correct compilation under toymode 2019-07-08 09:55:46 +10:00
Peter Barker
40a3bf94f4 Copter: EKF logging moved into EKF from logger 2019-07-06 19:05:51 +10:00
Peter Barker
eb82126758 Copter: ServoRelayEvents uses Relay singleton 2019-07-03 23:59:24 -07:00
Peter Barker
bf6f10e448 Copter: Arming: ensure frame class is appropriate for build FRAME_CONFIG 2019-07-04 10:05:01 +09:00
Peter Barker
cf45108efb Copter: set Heli frame default at compile-time 2019-07-04 10:05:01 +09:00
Peter Barker
bb3d2a0b37 Copter: pass GCS_MAVLink object rather than channel number in motortest 2019-07-02 10:04:56 +10:00
Peter Barker
478c62b5ac Copter: stop setting beacon in AHRS 2019-07-01 07:20:58 +09:00
Peter Barker
fab17ba3bf Copter: add sanity check when fetching GCS_MAVLink instance 2019-06-27 07:54:45 +10:00
Michael du Breuil
242096b65e Copter: Send a heartbeat on mode change 2019-06-26 12:58:18 -07:00
hoangthien94
b741639002 GCS_Copter: Fixed precland condition to set SENSOR_VISION_POSITION flag 2019-06-25 09:42:45 +08:00
Peter Barker
b0beca7b01 Copter: allow GCS MAVLink base class to handle out-of-time for sending messages 2019-06-25 10:29:40 +10:00
Peter Barker
db2aff56c0 Copter: remove pointless protocol parameter to setup_uart 2019-06-25 09:47:08 +10:00
Peter Barker
5278919463 Copter: stop pointlessly passing serial manager around 2019-06-25 09:47:08 +10:00
Peter Barker
f3c1791341 Copter: stop passing gcs chan into method which wants an object 2019-06-25 09:45:54 +10:00
Jaaaky
5ce185e4ac ArduCopter: convert to unix style end-of-line 2019-06-19 16:39:09 +09:00
Michael du Breuil
df37a3d603 Copter: Remove wrapper around MAVLink send heartbeat 2019-06-18 13:59:52 +01:00
Michael du Breuil
c612291a47 Copter: Enable scripting parameters 2019-06-18 00:06:32 -07:00
Peter Barker
9ac9b9ce00 Copter: set os_sw_version to date fw was compiled 
Also avoids non-trivial-designator compilation error
 2019-06-18 10:54:01 +10:00
Peter Barker
e3da6d69d5 Copter: mode_auto: don't set takeoff dest from bad current location 2019-06-18 09:07:56 +09:00
Michael du Breuil
bd904f890f Copter: Update for AFS interface 2019-06-18 10:02:05 +10:00
Rishabh
00f6dc9b05 Copter: brake moved in from AC_WPNav 2019-06-13 09:02:46 +09:00
Andrew Tridgell
7c44ad04b6 Copter: check for EKF lane switch to avoid EKF failsafe 
this fixes an issue with mismatch between the EKF lane switch
threshold and the copter EKF failsafe threshold
 2019-06-12 09:52:20 +10:00
SergeyBokhantsev
300ee173ce Copter: fix user aux functions 2019-06-11 10:28:15 +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
Andrew Tridgell
01a0d3897e Copter: fixed HAL_MINIMIZE_FEATURES build 2019-06-06 12:19:13 +10:00
Peter Barker
5985579383 Copter: stop setting AC_Avoid in AC_WPNav; it uses singleton now 2019-06-06 11:47:22 +10:00
Peter Barker
33daef2f33 Copter: merge ArduCopter.cpp and Copter.cpp 2019-06-04 10:41:26 +09:00
Bill Geyer
4492727878 Copter: tradheli-comments added to new Heli Acro code 2019-06-04 09:57:13 +09:00
ChristopherOlson
e13ff6c398 Copter: Parameters TradHeli Acro - add description for setting of virtual flybar 2019-06-04 09:57:13 +09:00
ChristopherOlson
8d43e828cf Copter: TradHeli - minor code format fix 2019-06-04 09:57:13 +09:00
Bill Geyer
0c64cdc565 Copter: TradHeli - add virtual flybar to heli acro flight mode 2019-06-04 09:57:13 +09:00
1iggy2
3c4bac7c97 Copter: added I frame for octa 2019-06-04 09:49:44 +09:00
Peter Barker
3e098df65a Copter: move common proximity pre-arm checks up 
It will not be possible to arm if a proximity sensor has been configured
but is not working after this patch.

The can't-arm-when-within-60cm-of-something check can still be disabled
with the PARAMETER arming check bit.
 2019-06-04 08:45:34 +09:00
Peter Barker
9f6b48b743 Copter: remove unneeded initialisation 2019-06-03 16:48:38 +09:00
Peter Barker
fa150bc982 Copter: remove loop-initialisation of output 
Use brace initialisation instead.  This is the only loop in here which
loops over the max number of compasses vs the number of compasses.
 2019-06-03 12:54:17 +09:00
bnsgeyer
4120e29614 AP_Motors: Tradheli-complete conversion of throttle curve params to percent 
add conversion for throttle curve params for upgrade
 2019-06-03 07:53:01 +09:00
ChristopherOlson
9d03b44cf7 Copter:Heli - governor set_rpm call independent of frame type 2019-06-03 07:53:01 +09:00
ChristopherOlson
2f7d198196 Copter:Logging TradHeli - add governor output and throttle logging for heli governor 2019-06-03 07:53:01 +09:00
ChristopherOlson
8312dcae5d Copter:Scheduler - increase update rate for rpm to 40Hz for helicopter governor 2019-06-03 07:53:01 +09:00
Peter Barker
112b153268 Copter: move Arming functions into AP_Arming file 2019-05-30 16:02:10 +09:00
Peter Barker
6dce39cbe1 Copter: use AP_Arming methods to arm and disarm vehicle 
Really just changing the namespace of init_arm_motors
 2019-05-30 07:37:30 +09:00
Peter Barker
17060d5d66 Copter: stop changing frame to home when home not set 2019-05-29 09:04:37 +09:00
Peter Barker
08a18d6a0a Copter: avoid working with uninitialised home location 2019-05-29 09:04:37 +09:00
Peter Barker
d34c4b01f4 Copter: build return path in run() rather than init() 
This avoids attempting to build a return path if we don't currently have
a home or origin
 2019-05-29 09:04:37 +09:00
Peter Barker
7ad4d95426 Copter: do not permit RTL unless home is set 
Rover has a similar check for entering RTL

Without this, if you do not have any rally points then we end up
attempting to manipulate an invalid location.
 2019-05-29 09:04:37 +09:00
Randy Mackay
f93a9c37d3 Copter: 3.6.9 release notes 2019-05-27 14:09:22 +09:00
Peter Barker
3ef84d2b96 Copter: stop passing references to AC_Avoid constructor 2019-05-22 07:48:02 -06:00
Peter Barker
3c436b30f0 Copter: have takeoff.start() handle clearing i terms and setting land-complete 2019-05-15 18:24:26 +10:00
Andrew Tridgell
f55d9140e2 Copter: rename to EXPECT_DELAY_MS() 2019-05-15 15:33:48 +10:00
Andrew Tridgell
bc2f5fa33b ArduCopter: use EXPECT_DELAY() macro 2019-05-15 15:33:48 +10:00
Tom Pittenger
3f359886cd Copter: move heartbeat sending to gcs instead of by vehicles 2019-05-14 10:54:45 -06:00
Andrew Tridgell
f46207499a Copter: prevent reset on compassmot due to watchdog 2019-05-11 05:56:34 +10:00
Randy Mackay
791b6effdd Copter: fix wp distance and bearing reporting during LOITER_TURNS 2019-05-07 13:54:31 +09:00
Peter Hall
3fe63d5bc0 Copter: only save autotune gains if disarmed in autotue 2019-05-07 09:23:50 +10:00
Randy Mackay
73973c77d7 Copter: 3.6.9-rc2 release notes 2019-04-30 13:03:02 +09:00
Randy Mackay
0472c7e6dd Copter: 3.6.9-rc1 release notes 2019-04-30 12:34:34 +09:00
Andrew Tridgell
55dca5cda9 Copter: added in sink rate for parachute check 2019-04-30 10:04:58 +10:00
Peter Barker
37c07e1d89 Copter: use enum class for roll/pitch mode 
This adds some type-safety and helps distinguish between the many
defines which are used within PosHold mode

Saves about 210 bytes of flash
 2019-04-30 08:36:59 +09:00
Peter Barker
462d87e5d0 Copter: remove unused PosHoldModeState enumeration 2019-04-30 08:36:59 +09:00
Peter Barker
e28c6b9dc6 Copter: remove redundant poshold_ prefix on PosHold methods 2019-04-30 08:36:59 +09:00
Peter Barker
f57a9f11cc Copter: move poshold state variables into mode object 
This was simply moving the members from the poshold struct into the
class then mechanically removing poshold. from in front of the member
access.
 2019-04-30 08:36:59 +09:00
Peter Barker
9f9531a790 Copter: AP_Arming: correct overriding of arm_checks method 
This makes the arbitrary decision that arming checks always report
failures to the GCS.

Fixes:

In file included from ../../ArduCopter/events.cpp:1:
In file included from ../../ArduCopter/Copter.h:91:
../../ArduCopter/AP_Arming.h:33:69: fatal error: non-virtual member function marked 'override' hides virtual member function
    bool arm_checks(bool display_failure, AP_Arming::Method method) override;
                                                                    ^
../../libraries/AP_Arming/AP_Arming.h:64:18: note: hidden overloaded virtual function 'AP_Arming::arm_checks' declared here: different number of parameters (1 vs 2)
    virtual bool arm_checks(AP_Arming::Method method);
                 ^
1 error generated.
 2019-04-30 09:29:59 +10:00
Randy Mackay
4fa52bb0de Copter: 3.6.8-release notes 2019-04-26 13:25:00 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
402b1cba3f Copter: replace 4 divisions with multiplications 2019-04-24 08:52:41 -07:00
Andrew Tridgell
3abe8fed89 Copter: updated release notes for 3.6.8 2019-04-24 17:15:44 +10:00
Pierre Kancir
d5d81f3a1c ArduCopter: set AUTO_YAW_HOLD when user control yaw during nogps land 2019-04-23 09:35:02 +09:00
Pierre Kancir
c2811ea144 ArduCopter: respect yaw orientation on LAND 2019-04-23 09:35:02 +09:00
Peter Barker
5d996a289a Copter: move responsibility for logging into library 2019-04-23 10:06:17 +10:00
Peter Barker
7207035c34 Copter: do no compass stick gesture detection while armed 2019-04-23 10:06:17 +10:00
Randy Mackay
8a5141f751 Copter: mode autoyaw lower in mode.h 
make ordering of some declarations consistent across child classes
 2019-04-20 10:04:33 +09:00
Peter Barker
7945c1fdfd Copter: mode class unfriends everyone, make relevant methods public 2019-04-20 10:04:33 +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
Randy Mackay
a732dfed6d Copter: minor format fixes to get_pilot_desired_cilmb_rate 2019-04-19 07:45:52 +09:00
Michael du Breuil
465d6b4dc7 Copter: Remove rangefinder distance prearm check 2019-04-16 11:00:32 +09:00
Arjun Vinod
f1de62f0d3 Copter: added left out copter flight modes as auxiliary switch options 2019-04-16 10:57:17 +09:00
Pierre Kancir
caf925eda5 Copter: factorize arm or land check 2019-04-16 10:17:47 +09:00
Peter Barker
07b8473a20 Copter: move setting of compass sys_status bits up 2019-04-16 09:48:23 +10:00
Randy Mackay
403195d9d4 Copter: fix auto-disarm check 
Copters go to SHUT_DOWN when estop is engaged
 2019-04-15 15:34:14 +09:00
Peter Barker
46a6f45e4a Copter: adjust for desired spool state and spool state renames 2019-04-14 12:18:03 +09:00
Randy Mackay
2c682c7001 Copter: add missing AccelZ to GCS_PID_MASK param description 2019-04-13 13:33:52 +09:00
Randy Mackay
571d933b3f Copter: fix send_pid_tuning 
the rate roll PID was being overwritten when PID logging was enabled
 2019-04-13 13:33:52 +09:00
Peter Barker
3e51d8c7d7 Copter: RangeFinder now handles RFND logging 2019-04-09 22:17:58 +10:00
Michael du Breuil
8290bd4e67 Copter: check all EKF cores for health on arming 2019-04-09 10:53:25 +10:00
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
Pierre Kancir
4f29d2e5a6 Copter: factorize esc calibration setup 2019-04-09 08:44:46 +09:00
Pierre Kancir
54380bd144 Copter: change always true condition to a timer 2019-04-09 08:44:46 +09:00
Peter Barker
41a20504b2 Copter: use RSSI singleton for logging 2019-04-09 09:33:13 +10:00
Peter Barker
e5b25824eb Copter: remove unused takeoff_trigger_dz parameter 2019-04-09 08:15:39 +10:00
Peter Barker
ef334fe3c7 Copter: remove hanging method declaration 2019-04-09 08:15:39 +10:00
Pierre Kancir
43dcf066c1 ArduCopter: move check_latlng to Location 2019-04-08 12:56:01 -07:00
Randy Mackay
a5bdd12bfa Copter: replace TUNE_LOW/HIGH params with TUNE_MIN/MAX 
change from uint16 to floats to ease setup
also add check that no function assigned to rc6
 2019-04-08 15:24:00 +09:00
Peter Barker
85be2b0c8b Copter: clean up flip state enumerations 
... including a redundant definition of the states...
 2019-04-08 14:24:19 +09:00
Randy Mackay
69626ba855 Copter: rename FXY logging to FHXY 
this keeps the log messages appearing directly below the related FHLD when looking in the MP log viewer
 2019-04-08 11:26:59 +09:00
Leonard Hall
df3e73f161 Copter: spool fixes for acro stabilize and throw 2019-04-08 09:42:21 +09:00
Randy Mackay
d626ea66f1 Copter: poshold loses stray set-desired-spool-state 
spool state is all handled higher up in the poshold state switch statement
 2019-04-08 09:42:21 +09:00
Randy Mackay
29d05dfeac Copter: loiter mode gets roll and pitch from loiter_nav 
both wp_nav and loiter_nav's get_roll() and get_pitch() simply get their values from the same underlying position controller
 2019-04-08 09:42:21 +09:00
bnsgeyer
94738c3f86 Copter: change make_safe_shut_down to make_safe_spool_down 2019-04-08 09:42:21 +09:00
bnsgeyer
f96da56ad6 Copter: Allow safe shutdown before disarming 2019-04-08 09:42:21 +09:00
bnsgeyer
7ff3a49a10 Copter:tradheli-spool logic fix for acro and stabilize 2019-04-08 09:42:21 +09:00
Leonard Hall
593925567b Copter: formatting fixes 2019-04-08 09:42:21 +09:00
Randy Mackay
a6bfafefb0 Copter: move loiter and wpnav init out of make_safe_shut_down 
resolves autotest RTLSpeed test failure
 2019-04-08 09:42:21 +09:00
Leonard Hall
38cc5a817f Copter: consolidate mode state decisions 
bnsgeyer and rmackay9 contributed to these changes

make_safe_shut_down waits for spool down before disarming
remove use of attitude_control::set_throttle_out_unstabilized to consolidate logic between multicopters and tradhelis
 2019-04-08 09:42:21 +09:00
bnsgeyer
d949c80d54 Copter: tradheli replaces rotor_runup_complete with spool state 2019-04-08 09:42:21 +09:00
Peter Barker
3b33f4ca4d Copter: add floating-point-constant designators 2019-04-05 23:04:17 -07:00
Michael du Breuil
d1246f5868 Copter: Fix RangeFinder init 2019-04-06 09:15:22 +11:00
Pierre Kancir
4cec958269 ArduCopter: move location_update to Location and rename to offset_bearing 2019-04-06 09:10:28 +11:00
Pierre Kancir
5987966ac6 ArduCopter: move get_bearing_cd to Location and rename to get_bearing_to 2019-04-06 09:10:28 +11:00
Michael du Breuil
0e8c3dc485 Copter: include FWversion 2019-04-05 20:12:53 +11:00
Patrick José Pereira
86633e45ff Copter: Use new RC_Channel AUX_FUNC 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2019-04-03 09:53:58 -07:00
Peter Barker
fad769f3bf Copter: add param conversion from MAG_ENABLE to COMPASS_ENABLED 2019-04-02 10:24:49 +11:00
Peter Barker
2040580ce7 Copter: move enabled parameter into compass library 2019-04-02 10:24:49 +11:00
bnsgeyer
3869507839 Copter: Tradheli- removes suppression of hover_trim_roll on auto takeoff 2019-03-29 13:13:55 +11:00
Rajat Singhal
49554bf8d9 Copter: Add function for sending POSITION_TARGET_LOCAL_NED message 2019-03-29 09:11:14 +11:00
Tom Pittenger
7824b64ad6 Copter: rename dataflash to logger 2019-03-28 16:40:57 +11:00
Peter Barker
86bd531b24 Copter: use convenience manual_override method 2019-03-27 22:33:47 -07:00
Randy Mackay
7c09084f02 Copter: add Loiter and Follow to aux switch 2019-03-28 13:54:22 +09:00
Peter Barker
8441542a52 Copter: remove climb_rate cache of inertial_nav.get_velocity_z 
There were only two users of it and dozens of places using
get_velocity_z
 2019-03-28 12:10:31 +11:00
Peter Barker
6bac6cd725 Copter: remove redundant compass arming checks 
These are already part of prearm checks in the parent class, which must also pass for us to arm
 2019-03-28 11:28:44 +11:00
ChristopherOlson
e56c970eb0 Copter:AP_ARMING - remove collective position prearm check for heli 2019-03-28 10:40:54 +11:00
Peter Barker
e9398e73ff Copter: tidy get_pilot_desired_throttle 2019-03-27 18:03:56 +11:00
Peter Barker
c1c71fec23 Copter: move Mode functions into mode.cpp from Attitude.cpp (NFC) 2019-03-27 14:02:31 +11:00
Peter Barker
7e01d1ef50 Copter: correct compilation for ERROR_SUBSYSTEM_FLIGHT_MODE changing names 2019-03-27 13:23:12 +11:00
Peter Barker
c7e21d95ef Copter: move Log_Write_Error into library 2019-03-27 12:36:40 +11:00
Peter Barker
7a1648059b Copter: stop passing dataflash into handle_radio_status 2019-03-27 10:38:39 +11:00
Peter Barker
335c1769ee Copter: do not allow change to Drift if in non-manual-throttle mode 
drift acts just like stabilise or acro in terms of pilot throttle when
pilot input is maxed.
 2019-03-26 20:57:15 +11:00
Peter Barker
d95160b33c Copter: move check for high-throttle on mode change up 2019-03-26 20:57:15 +11:00
Peter Barker
34d9ce27af Copter: make get_pilot_desired_throttle a method on Mode 2019-03-26 20:57:15 +11:00
Patrick José Pereira
33764d6c3b Copter: Fix typo 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2019-03-26 15:39:23 +11:00
Peter Barker
9a2d5ac5a6 Copter: move various sensor status flag updates up 2019-03-26 11:03:21 +11:00
bnsgeyer
2ec470aaee Copter:tradheli - added swash params to convert on upgrade 2019-03-20 10:40:20 +10:00
bnsgeyer
2fc942ac24 Copter: tradheli-convert swash parameters on firmware upgrade 2019-03-20 10:40:20 +10:00
Peter Barker
f4a21d446f Copter: move command-long DO_SET_HOME up 2019-03-19 19:56:13 +11:00
Peter Barker
451f5f17ce Copter: move devo telemetry handling to GCS 2019-03-19 14:39:14 +11:00
Peter Barker
4f70bdd046 Copter: GCS can report simple/supersimple input modes 2019-03-19 14:39:14 +11:00
Peter Barker
a5c18ff8f5 Copter: move vehicle_initialised to be on GCS not GCS_MAVLink 2019-03-19 14:39:14 +11:00
Peter Barker
e22b29bce4 Copter: FrSky support has moved to GCS 2019-03-19 14:39:14 +11:00
Peter Barker
3e0ec99100 Copter: fill Notify flag for flying 2019-03-19 14:39:14 +11:00
Peter Barker
227f6499d3 Copter: mark vtol_state and landed_state methods as override 2019-03-19 10:32:50 +11:00
Peter Barker
366051c39f Copter: use enum class for AltFrame enumeration 2019-03-19 10:31:18 +11:00
Peter Barker
85d9dd6f64 Copter: move sending of RPM message up 2019-03-16 10:33:01 +09:00
Randy Mackay
467e8481fb Copter: minor formatting fix to ekf failsafe check 2019-03-15 15:44:01 +09:00
chobits
6bee4216c0 Copter: speed up EKF failsafe by checking if velocity innovations > 2x FS_EKF_THRESH 2019-03-15 15:36:13 +09:00
Bill Geyer
c40312d0f9 Copter: fix to acro trainer leveling mode 2019-03-15 15:26:24 +09:00
Randy Mackay
e57ec068f0 Copter: remove duplicate guided limit-init-time-and-pos 
this is called from nav_guided_start()
 2019-03-15 14:51:35 +09:00
Randy Mackay
8d66c5f547 Copter: move do_payload_place handler 
commands are placed in numerical order
 2019-03-15 14:51:35 +09:00
Peter Barker
6d87b9316f ArduCopter: compass init never fails 2019-03-13 13:06:50 +11:00
Peter Barker
f189860162 Copter: use enum class for ArmingMethod and ArmingRequired 2019-03-12 19:48:14 +11:00
Peter Barker
281dbfcef8 Copter: support send_extended_sys_state 2019-03-12 09:16:13 +09:00
Peter Barker
7b6fef16aa Copter: remove redundant PreArm: in check_failed calls 2019-03-08 08:57:53 +09:00
Peter Barker
cc8912255e Copter: move checking of fence up 2019-03-08 08:57:27 +09:00
Randy Mackay
ead3682e4c Copter: correct ACRO_YAW_P param description 
this parameter applies to all flight modes
 2019-03-06 14:42:59 +09:00
Randy Mackay
938868cc03 Copter: 3.6.7 release notes 2019-03-06 14:24:25 +09:00
Peter Barker
cac87b8e0b Copter: use attitude and position controller prearm checks 2019-03-06 10:36:32 +09:00
Peter Barker
4f69eefd4a Copter: remove unused includes 2019-03-05 13:19:29 +09:00
Peter Barker
eed73749f9 Copter: move sending of send_pid_tuning up 2019-03-05 10:41:56 +11:00
Michael du Breuil
cac4b91671 Copter: Allow scripting to run 2019-03-05 08:45:54 +11:00
Peter Barker
7c05364612 Copter: reindent mode init functions (NFC) 2019-03-01 13:43:20 +09:00
Peter Barker
fab2d59a1c Copter: move check for position up 2019-03-01 13:43:20 +09:00
Peter Barker
e744df585c Copter: avoid int32_t<->float conversions 2019-03-01 12:09:58 +11:00
Dr.-Ing. Amilcar Do Carmo Lucas
f1e43979ab ArduCopter: NFC small renames and comment improvements 2019-03-01 09:15:24 +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
Randy Mackay
a90f94d5a7 Copter: 3.6.7-rc1 release notes 2019-02-28 09:15:44 +09:00
Randy Mackay
384bca9482 Copter: stop at waypoint depending upon next command 2019-02-27 13:30:40 +09:00
Randy Mackay
a903c91c40 Copter: remove unused auto_spline_start declaration 2019-02-27 13:30:40 +09:00
IamPete1
ba3d1bc6c7 Copter: move E-stop state to SRV_Channel 2019-02-27 08:51:24 +09:00
Peter Barker
2c814e9de2 Copter: get_alt_above_ground to get_alt_above_ground_cm 2019-02-26 19:31:41 +09:00
Andrew Tridgell
ef3306d408 Copter: fixed crash on mavlink send before pos_control is allocated 2019-02-26 16:18:26 +11:00
Peter Barker
a48f461158 Copter: remove position-vector methods 
Both were used in just one place
 2019-02-26 14:09:21 +11:00
Arjun Vinod
d02d897928 Copter: make LOITER_TIME send "Reached command" message to GCS 2019-02-26 10:19:37 +09:00
Arjun Vinod
8044d98382 Copter: do an early-return if the time hasn't been reached 2019-02-26 10:14:56 +09:00
murata
8644f4d76e Copter: Disable option code 
Copter: Revert change

Copter: Change mistakes
 2019-02-26 10:00:00 +09:00
Peter Barker
693873fd04 Copter: AHRS set_orientation renamed to update_orientation 2019-02-26 10:28:09 +11:00
Peter Barker
8e1b48ef1e Copter: use height-above-ground for landing gear deployment 2019-02-26 08:21:32 +09:00
Peter Barker
66416a5289 Copter: make toymode parameter descriptions consistent 
Also correct "home button" -> "left (Mode button)"
 2019-02-22 11:36:28 +09:00
Peter Barker
4187243e5c Copter: Rally no longer takes ahrs in constructor 2019-02-20 18:03:38 +11:00
Peter Barker
c622645ff1 Copter: move update_sensor_flags to GCS_Copter.cpp 2019-02-20 11:57:00 +11:00
Peter Barker
5ff80e06d1 Copter: move update_sensor_status_flags into GCS subclasses 2019-02-19 14:09:59 +11:00
Peter Barker
039aa3f3b3 Copter: move sensor flags to be a GCS thing rather than a GCS_MAVLINK thing 2019-02-19 14:09:59 +11:00
Peter Barker
f759c7ac7e Copter: GCS_MAVLink takes care of mavlink capabilities 2019-02-19 13:14:52 +11:00
Peter Barker
9bc23d3f28 Copter: move try_send_message of nav_controller_output up 2019-02-19 10:08:00 +11:00
Peter Barker
f64ad2f433 Copter: move visual odometry update function into AP_VisualOdom 2019-02-16 15:13:59 +11:00
Randy Mackay
6b0456e3ac Copter: 3.6.6 release notes 2019-02-16 08:47:18 +09:00
Peter Barker
0dce6172f2 Copter: use visual odometry singleton 2019-02-15 16:56:13 +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
8de7f4a520 Copter: devo telemetry no long requires singleton classes to be passed in 2019-02-13 19:24:07 +00:00
Peter Barker
228d7b676d Copter: move responsibility for parachute deployment up 2019-02-13 09:25:27 +09:00
Peter Barker
270fa2dfb9 Copter: move handling of command-int MAV_CMD_DO_SET_HOME up 2019-02-13 09:42:26 +11:00
Peter Barker
a0189d6060 Copter: AP_Frsky_Telem uses singletons 2019-02-12 17:53:23 +00:00
Peter Barker
5f152378fd Copter: dataflash always emits rally points at startup 2019-02-12 11:48:55 +11:00
Peter Barker
3765bae5e0 Copter: remove checking for coordinate frames 
This is very much NFC.  This change uncovers previous dead code in the
case that we are not ignoring yaw.
 2019-02-12 09:07:50 +09:00
Peter Barker
243cf690da Copter: use altitude frame mapping function 2019-02-12 09:07:50 +09:00
Tom Pittenger
b8ee535fb4 Copter: unify singleton naming to _singleton and get_singleton() 2019-02-10 19:09:58 -07:00
Randy Mackay
1725c8f178 Copter: 3.6.6-rc2 release notes 2019-02-09 14:53:26 +09:00
Peter Barker
47a0796684 Copter: move handling of fence point handling up 2019-02-08 11:47:59 +09:00
Peter Barker
727d42be1c Copter: move handling of MAV_CMD_DO_SET_FENCE_ENABLED up 
This has the effect of losing the statustext messages.  We should not be
sending statustext messages for things that complete successfully, and
this data is available in the fence_status mavlink message (and in
SYS_STATUS too)
 2019-02-08 11:47:59 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
937e05bb2a Copter: small precision landing improvements 2019-02-07 10:54:58 +09:00
Peter Barker
f0ea4af514 Copter: rename get_velocity_xy to get_speed_xy 2019-02-07 09:03:17 +09:00
Randy Mackay
ee6fd5ad8d Copter: Guided_NoGPS does not require GPS 2019-02-06 12:28:08 +09:00
Peter Barker
587e02e92e Copter: remove pv_ functions that duplicate Location functions 2019-02-06 11:02:50 +09:00
Andrew Tridgell
3f58461839 Copter: allow override of default frame type 2019-02-06 11:17:35 +11:00
Andrew Tridgell
36180faab5 Copter: added 3 more FRAME_TYPE values 2019-02-06 11:17:35 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
c31e24edcc Copter: Add OSD_ENABLED macro to APM_Config.h 2019-02-05 13:19:56 +09:00
Peter Barker
609b4f87c5 Copter: move handling of RC_CHANNELS_OVERRIDE up 2019-02-05 13:59:21 +11:00
Peter Barker
7197cf9e5c Copter: move sending of sys_status message up 2019-02-05 11:07:39 +11:00
Peter Barker
f4f40f749b Copter: Flip: fix FIXME by moving state into mode class 2019-02-04 11:07:28 +09:00
Peter Barker
3521d98b52 Copter: move handling Write_Event into AP_Logger 2019-02-04 09:30:07 +09:00
Randy Mackay
ba7b354326 Copter: 3.6.6-rc1 release notes 2019-02-02 14:30:13 +09:00
Randy Mackay
42c7f5ceb4 Copter: integrate WPNAV::set_speed_z split to set_speed_up and set_speed_down 2019-01-31 19:34:32 +09:00
Randy Mackay
717fb4d823 Copter: integrate AC_WPNav::get_speed rename to get_default_speed 2019-01-31 19:34:32 +09:00
Peter Barker
3d088f526d Copter: AC_Fence is included for all vehicles 2019-01-31 13:44:29 +09:00
Peter Barker
1412921561 Copter: move sending of fence_status message up 2019-01-31 13:44:29 +09:00
Peter Barker
5dc743f1ba Copter: fence no longer takes reference to ahrs in constructor 2019-01-31 11:25:38 +09:00
Peter Barker
eccd62eeaf Copter: remove rally argument from Write_Rally - use singleton 2019-01-31 09:51:25 +09:00
bnsgeyer
62ffd273aa Copter: Tradheli-default RC8_OPTION to motor interlock 2019-01-28 09:44:56 +09:00
bnsgeyer
07d9e8c224 Copter: Tradheli-removed hard coding of motor interlock to channel 8 2019-01-28 09:44:56 +09:00
bnsgeyer
c6e9a72ad9 Copter: Tradheli-fixes hover roll trim ramp time 2019-01-26 11:45:04 +09:00
chobitsfan
7f6b7dab2f Copter: support fence actions SmartRTL and Brake 2019-01-25 15:43:18 +09:00
Randy Mackay
d29b4344df Copter: 3.6.5 release notes 2019-01-24 10:29:37 +09:00
Randy Mackay
1334437df4 Copter: 3.6.5-rc3 release notes 2019-01-21 10:08:40 +09:00
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
bf8c02b8ea
Copter: add KDECAN to included libraries 2019-01-18 00:57:32 +00:00
Peter Barker
f896f6538b Copter: log_terrain_data no longer takes a DataFlash argument 2019-01-18 11:17:40 +11:00
Peter Barker
09dd750df8 Copter: Log_Write_SIMSTATE no longer takes dataflash pointer 2019-01-18 11:16:54 +11:00
Peter Barker
d3f5f0d7b0 Copter: remove PX4 FWVersion info 2019-01-16 11:47:55 +11:00
Peter Barker
845f015648 Copter: adjust for Location_Class and Location unification 2019-01-16 11:45:29 +11:00
Peter Barker
f48d757bd4 Copter: adjust for location flags being moved out of union 2019-01-16 11:45:29 +11:00
Randy Mackay
50c5ad7076 Copter: TradHelis force spool up before takeoff 2019-01-15 11:41:44 +09:00
bnsgeyer
ca565675f2 Copter: Tradheli gets support for spool logic 2019-01-15 11:41:44 +09:00
bnsgeyer
12f4d8518e Copter: Tradheli moves init_targets_on_arming flag to motors 2019-01-15 11:41:44 +09:00
Leonard Hall
2ddb3f6697 Copter: desired-ground-idle replaces spin-when-armed 2019-01-15 11:41:44 +09:00
Randy Mackay
011cb89499 Copter: 3.6.5-rc2 release notes 2019-01-15 10:23:35 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
00d9cc2e09 Copter: Only use the 6 LSBs, avoids a cpp warning 2019-01-11 20:55:17 +09:00
Randy Mackay
0db8a48453 Copter: 3.6.5-rc1 release notes 2019-01-11 12:32:04 +09:00
Pierre Kancir
8c5d9d38a6 Copter: fix snprintf size warning 2019-01-10 20:00:29 +09:00
Peter Barker
48155e72eb Copter: correct use of incorrect name for type 2019-01-09 17:21:00 +11:00
Peter Barker
f50418f72a Copter: Terrain uses rally singleton 2019-01-09 10:14:16 +11:00
Randy Mackay
f24c7719ca Copter: remove unused error code and add comments 2019-01-08 19:42:32 +09:00
Michael du Breuil
6bb84bfcc5 Copter: Remove unneeded GCS rally override 2019-01-08 10:39:50 +11:00
Michael du Breuil
fc2ea009fb Copter: Reset all storage when format version is incorrect 2019-01-08 10:35:37 +11:00
murata
36995424f3 Copter: Delete NuttX version processing 2019-01-08 10:06:20 +11:00
Peter Barker
bba3546279 Copter: do not permit copying of a Mode 2019-01-03 13:35:33 +09:00
Michael du Breuil
ec8a82e8a0 Copter: Remove unneeded AP_Buffer include 2018-12-31 11:41:43 +09:00
Andrew Tridgell
cc4db3e458 Copter: implement get_wp() for follow 
this allows the GCS to plot the position target
 2018-12-31 09:53:20 +09:00
Randy Mackay
a409567b44 Copter: 3.6.4 release notes 2018-12-27 13:56:08 +09:00
murata
77389d9a91 Copter: remove dup return from arming prox check 2018-12-26 13:19:52 +09:00
Randy Mackay
a8bcd50fdd Copter: minor format fix 2018-12-24 11:50:04 +09:00
Andrew Tridgell
b897551e0b Copter: log PIDs at full rate during AUTOTUNE twitch 2018-12-22 15:10:23 +11:00
Andrew Tridgell
088442880e build: removed makefile build system 2018-12-22 11:06:59 +11:00
Andrew Tridgell
7783a7ea58 Copter: use AHRS_View for RATE logging 2018-12-21 22:17:52 +11:00
IamPete1
21b6a2a878 Copter: Add value to paramiter discription 2018-12-21 11:19:18 +09:00
Peter Barker
41cd906641 Copter: beep on mode change/change failure for aux switch changes 2018-12-21 09:36:28 +09:00
Randy Mackay
01d5ce33b2 Copter: 3.6.4-rc1 release notes 2018-12-20 19:58:27 +09:00
Peter Barker
8626c9573a Copter: split SIMSTATE, AHRS2 and AHRS3 onto their own ap_message ids 2018-12-19 13:19:23 +11:00
Peter Barker
56ec2691ae Copter: split DISTANCE_SENSOR onto its own ap_message id 2018-12-19 07:24:37 +11:00
Peter Barker
bfc82fb1d8 Copter: try_send_message caller checks telemetry_delayed 2018-12-18 14:25:56 +11:00
Peter Barker
f8a05564e8 Copter: split SYS_STATUS and POWER_STATUS onto separate ap_messages 2018-12-18 14:05:20 +11:00
Andrew Tridgell
89d54767b1 Copter: convert to use AC_AutoTune library 
this maintains existing behaviour
 2018-12-18 10:34:42 +09:00
Peter Barker
0e6efd6de0 Copter: move accept_packet to GCS_MAVLink base class 2018-12-14 12:44:31 +11:00
Peter Barker
901e428d53 Copter: DataFlash uses AP_Mission singleton 2018-12-13 14:45:30 +09:00
Peter Barker
8ac5ee02ea Copter: GCS_MAVLink now uses Mission singleton 2018-12-13 10:52:52 +09:00
Randy Mackay
7a6e212da9 Copter: follow return wp_distance and wp_bearing 2018-12-13 09:30:19 +09:00
Randy Mackay
4b6db7c0dd Copter: remove follow mode debug 2018-12-13 09:30:19 +09:00
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
ca2a49c1c6 Copter: split MSG_SCALED_PRESSURE into three separate messages 2018-12-12 21:36:01 +11:00
Peter Barker
4ffd38f6bb Copter: GCS_MAVLink uses dataflash singleton 2018-12-11 08:43:47 +09:00
Peter Barker
ff89000e96 Copter: split MSG_RAW_IMU1 into per-IMU ap_messages 2018-12-10 12:52:41 +09:00
Peter Barker
3d8588a636 Copter: send both SYS_STATUS or POWER_STATUS or neither 2018-12-10 12:52:41 +09:00
Peter Barker
75fb9780f7 Copter: rename send_extended_status1 to send_sys_status 2018-12-10 12:52:41 +09:00
Peter Barker
05f2e51b4d Copter: adjust for new update entry points into GCS 2018-12-10 12:52:41 +09:00
Peter Barker
ef3654e343 Copter: update GCS at main loop rate 
Reducing message intervals doesn't work as well otherwise
 2018-12-10 12:52:41 +09:00
Peter Barker
924b278120 Copter: add parameter stream to list-of-all-streams 2018-12-10 12:52:41 +09:00
Randy Mackay
550be0bfb1 Copter: tradheli default table made static 2018-12-06 12:23:41 +09:00
Randy Mackay
00b909255c Copter: tradheli uses set_defaults_from_table 2018-12-06 12:23:41 +09:00
Randy Mackay
f5208b1664 Copter: minor format fix 2018-12-05 20:12:34 +09:00
Randy Mackay
24c79acdc4 Copter: 3.6.3 release notes 2018-12-05 10:11:20 +09:00
Peter Barker
41ead10d22 Copter: rename MSG_EXTENDED_STATUS2 to MSG_MEMINFO 2018-12-04 18:01:38 +11:00
Peter Barker
7e76871b9e Copter: rename MSG_RAW_IMU2 and MSG_RAW_IMU3 to reflect what they send 2018-12-04 17:45:32 +11:00
Randy Mackay
a083d98b96 Copter: 3.6.3-rc1 release notes 2018-12-01 13:59:37 +09:00
ChristopherOlson
2e98de3292 Copter:Parameters-TradHeli - set defaults for PSC and LOIT controllers 2018-11-27 08:48:41 +09:00
murata
b252eae404 Copter: Flip mode is an option. 
Copter: Flip mode is an option.
 2018-11-26 09:29:47 +09:00
Randy Mackay
2c9ba1d954 Copter: 3.6.2 release notes 2018-11-24 09:04:51 +09:00
Peter Barker
f9487c3d83 Copter: remove ancient, misleading Arduino comment 2018-11-23 10:56:17 +11:00
Peter Barker
d49431488e Copter: remove pointless wrappers around RC_Channels functions 2018-11-23 10:56:17 +11:00
Peter Barker
ee5339f931 Copter: remove pointless wrappers around gcs functions 2018-11-23 10:56:17 +11:00
Randy Mackay
eb7b87b70d Copter: 3.6.2-rc4 release notes 2018-11-22 09:19:27 +09:00
Randy Mackay
655fe660ed Copter: remove reset of alt target in manual throttle mode 
the target was being set to zero only for logging purposes
 2018-11-21 21:41:58 +09:00
Randy Mackay
99525410ee Copter: 3.6.2-rc3 release notes 2018-11-19 13:22:46 +09:00
Randy Mackay
6cacc738b3 Copter: 3.6.2-rc2 release notes 2018-11-15 10:58:07 +09:00
Randy Mackay
6b0b3f987b Copter: 3.6.2-rc1 release notes 2018-11-15 10:58:04 +09:00
Pierre Kancir
c50eed5e9a Copter: log and notify when manual land repositionning is active 2018-11-13 10:14:54 +09:00
Peter Barker
33ca577653 Copter: OpticalFlow takes care of its own logging 2018-11-13 10:40:23 +11:00
Peter Barker
ee456e8870 Copter: do not pass ahrs to opticalflow constructor 2018-11-13 10:40:23 +11:00
Peter Barker
33d40500ac Copter: move sending of optical flow status up to base class 2018-11-13 10:40:23 +11:00
Randy Mackay
f8773e0bdc Copter: enable ground effect compensation by default 2018-11-12 13:43:42 +09:00
Randy Mackay
d6dca1f6a1 Copter: landing gear deployment height calc uses lidar status 2018-11-10 21:24:19 +11:00
Andrew Tridgell
2f79932611 Copter: auto-convert landing gear PWM parameters 2018-11-10 21:24:19 +11:00
Andrew Tridgell
144e1945c6 Copter: support height based landing gear 2018-11-10 21:24:19 +11:00
Peter Barker
176ee507a2 Copter: make mavlink rangefinder health bit depend just on data available 
This means the sensor is healthy even if it is out of range.

This is a partial revert of commit 724f34c7e7 (diff-577a72d2550199fabbdfd77fa5890368R408)
 2018-11-10 12:20:27 +09:00
Randy Mackay
0d4ab51f15 Copter: 3.6.1 release notes 2018-11-10 10:20:54 +09:00
Peter Barker
73940df48e Copter: move mission into mode_auto 2018-11-09 13:35:40 +09:00
Andrew Tridgell
637dc718df Copter: moved LANDING_GEAR to common RC_Channel 2018-11-09 14:35:14 +11:00
Peter Barker
bf1c82ffe1 Copter: don't pass ahrs to terrain constructor 2018-11-08 20:59:45 +11:00
Peter Barker
f598cff99c Copter: stop passing ahrs to Mission constructor 2018-11-08 10:01:16 +09:00
Peter Barker
b0494c1491 Copter: add override keyword where required 2018-11-08 11:30:12 +11:00
murata
0dacfc0d9c Copter: Add patch number to VERSION notation 2018-11-08 09:11:07 +09:00
murata
7a3f84566a Copter: Delete the last newline of the message. 2018-11-07 11:59:58 +09:00
Randy Mackay
e0d94ceaf2 Copter: 3.6.1-rc1 release notes 2018-11-06 13:53:40 +09:00
Peter Barker
72440e2af3 Copter: allow VFR_HUD.alt to be relative-alt if DEV_OPTIONS has bit 2 set 2018-11-06 11:26:38 +09:00
Michael du Breuil
f7245e7797 Copter: Remove old parameter conversion that conflicts with newer code 2018-11-06 10:18:39 +09:00
Michael du Breuil
5740ea55e8 Copter: Fix battery failsafe param conversion 2018-11-06 10:18:39 +09:00
Peter Barker
1d322046b0 Copter: tidy up send_pid_tuning 2018-11-06 08:19:15 +09:00
Peter Barker
7c86ce4d81 Copter: change default streamrate for ADSB from 5 to 0 
No other stream has a default streamrate in Copter.

This causes us small amounts of overhead as it marks all channels as
streaming.
 2018-11-05 14:57:55 +09:00
Michael du Breuil
0f636db159 Copter: Make capability init consistent 2018-11-05 14:04:36 +11:00
Peter Barker
7e581da1cf Copter: implement misson LOITER_TO_ALT 2018-10-30 17:50:46 +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
Peter Barker
a339d77f08 Copter: let AP_Mission handle common camera commands 2018-10-30 15:37:18 +11:00
Peter Barker
f97281eb48 Copter: move servorelayevents mission handling into AP_Mission 2018-10-30 15:37:18 +11:00
Peter Barker
1eec264d6c Copter: mission library handles gripper 2018-10-30 15:37:18 +11:00
Randy Mackay
e1ded6e0dc Copter: winch disabled by default 2018-10-30 13:25:22 +09:00
Randy Mackay
e51d842ca5 Copter: fix flowhold param description 2018-10-30 11:05:47 +09:00
Peter Barker
7cfc020c3c Copter: AC_Avoid is built on all vehicles 2018-10-30 12:10:42 +11:00
Peter Barker
7017345fc9 Copter: let RC_Channel parent library do AC_Avoid stuff 2018-10-30 12:10:42 +11:00
Randy Mackay
9aa0e3b0ad Copter: 3.6.0 release notes 2018-10-27 11:43:10 +09:00
Randy Mackay
ccee1e6e2e Copter: flowhold descending bug fix 2018-10-27 10:44:19 +09:00
Randy Mackay
69c00285bd Copter: fix flowhold logging format 2018-10-27 10:44:19 +09:00
Randy Mackay
d7aa7fb63b Copter: flowhold formatting fixes 2018-10-27 10:44:19 +09:00
Randy Mackay
8fdd439827 Copter: land mode minor format fixes 2018-10-27 10:44:19 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
b74ae2d912 Copter: Obey and preserve DO_SET_ROI commands when executing LOITER_TURNS mission commands 2018-10-23 10:19:05 +09:00
Andrew Tridgell
1978a0cb94 ArduCopter: fixed build warnings 2018-10-17 12:54:22 +11:00
Peter Barker
332340135f Copter: leave AHRS to log and notify home changes 2018-10-16 10:55:13 +11:00
Peter Barker
a90cfc7db7 Copter: clarify prearm failure messages 2018-10-16 10:31:10 +11:00
Peter Barker
7af119b497 Copter: factor out loc_from_cmd from three functions 2018-10-16 10:17:12 +11:00
Peter Barker
5f552a6ce3 Copter: stop shadowing members of Copter 
These references were taken to make the breaking out of Modes in Copter.

A lot of other code has already caused these sorts of things to go away,
but these particular ones seem reasonable to fix by pointing the users
at the copter object directly.
 2018-10-16 10:17:12 +11:00
Peter Barker
1a660cefae Copter: remove unused STREAM_RAW_CONTROLLER_msgs variable 2018-10-16 10:17:12 +11:00
Peter Barker
e02a645354 Copter: use fabsf() instead of labs() 
wrap_180_cd returns a float

substracting a float from an int32 returns a float
 2018-10-16 10:17:12 +11:00
Leonard Hall
d29a47d605 Copter: Add thrust check, counter reset and comments 2018-10-16 00:44:50 +09:00
Leonard Hall
1a3d181756 Copter: Fix feedback in crash check 2018-10-16 00:44:50 +09:00
Randy Mackay
0cf2850593 Copter: fix thrust_loss check angle check 
angle deviation corrected to 15deg and based on total lean angle instead of roll and pitch separately
fixed compile error on send_text
 2018-10-16 00:44:50 +09:00
Randy Mackay
7a43a21784 Copter: formatting fixes to thrust loss check 2018-10-16 00:44:50 +09:00
Leonard Hall
54a59f581f Copter: add motor thrust lost check 2018-10-16 00:44:50 +09:00
Sam Bristow
823d09b212 Copter: Fix confusing indentation 
Commit d94663d5 introducted a minor whitespace issue which made the
indentation of the nested if statements slightly confusing. We may as
well clean it up sooner rather than later :-)
 2018-10-15 16:32:15 +11:00
chobitsfan
d94663d5af Copter: support changing vertical speed in DO_CHANGE_SPEED 2018-10-13 13:16:26 +09:00
Peter Barker
c70c946651 Copter: correct mode_zigzag compilation for ekf scalar change 2018-10-08 19:23:57 -07:00
Peter Barker
26ca75efae Copter: make libraries get EKF control limits themselves 2018-10-09 10:47:38 +11:00
Randy Mackay
9cd62e81b3 Copter: 3.6.0-rc12 release notes 2018-10-05 14:19:31 +09:00
Randy Mackay
042e7b473b Copter: minor comment fix to throw 2018-10-05 10:05:45 +09:00
Randy Mackay
d3f7214bcf Copter: revamp zigzag mode 
more accurately stops on target
uses current z target when moving to edge
loses unnecessary auto_yaw.set_mode
ensure A and B are different
 2018-10-05 10:05:45 +09:00
CAO MUQING
71beab7502 Copter: create and update Zigzag flight mode 2018-10-05 10:05:45 +09:00
Raouf
46b669a056 Copter: send obstacle_distance messages to proximity lib 2018-10-02 10:37:13 +09:00
Randy Mackay
19e0fa5214 Copter: 3.6.0-rc11 release notes 2018-10-01 14:51:56 +09:00
Peter Barker
ac0e126099 Copter: correct AFS terminate-via-land for Copter 
In the case we're terminating via land it's a good idea to continue to
constantly adjust our motor outputs for stabilization and the like....
 2018-10-01 11:23:46 +09:00
Randy Mackay
4fa0cc4bd3 Copter: pass update rate to precland init 2018-09-21 16:38:35 +09:00
Randy Mackay
eef839703f Copter: remove unnecessary copter prefix from precland update 2018-09-21 16:38:35 +09:00
Michael du Breuil
7e1ed948f5 Copter: Cope with AC_PosControl renaming 2018-09-20 15:15:45 -07:00
Leonard Hall
1b5b46dab5 Copter: Missing Loiter Init on accel 2018-09-19 17:29:55 +09:00
Leonard Hall
17b61f72a3 Copter: Initialise desired acceleration before loiter init 2018-09-19 08:34:08 +09:00
Randy Mackay
e78dab1d10 Copter: remove OSD comments 2018-09-15 14:34:20 +09:00
yaapu
5e46b97894 Copter: fix OSD wp_distance and wp_xtrack_error 
need conversion from centimeters to meters as expected by OSD code
 2018-09-15 14:11:57 +10:00
Randy Mackay
cdcf26e97b Copter: 3.6.0-rc10 release notes 2018-09-15 11:42:42 +09:00
Randy Mackay
71334a18c5 Copter: rename rudder_arming to get_rudder_arming_type 2018-09-11 19:34:39 +10:00
Randy Mackay
72234e5db6 Copter: arming check formatting fixes 2018-09-11 19:34:39 +10:00
Randy Mackay
ede27b23d9 Copter: support disabling rudder arming 2018-09-11 19:34:39 +10:00
Michael du Breuil
470548a100 Copter: Allow starting mission commands to fail 2018-09-11 06:42:00 +10:00
Randy Mackay
b5d722245a Copter: minor comment fix 2018-09-10 13:50:31 +09:00
Randy Mackay
314ce5695a Copter: 3.6.0-rc9 release notes 2018-09-09 15:49:53 +09:00
Peter Barker
450052aa80 Copter: rewrite read_radio for clarity 2018-09-05 11:54:32 +10:00
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
Leonard Hall
8faa1cce39 Copter: loiter glitch fix 2018-09-04 13:37:28 +09:00
Peter Barker
0be5e65b4a Copter: correct compilation for missing define 
Bad interaction between two PRs that were merged.
 2018-09-03 19:47:15 +09:00
Peter Barker
0f4c68aadb Copter: move rc-channel option for lost-vehicle sound up to base class 2018-09-03 16:57:25 +09:00
Pierre Kancir
e7c000875e Copter: complet rc option init list 2018-09-03 16:55:43 +09:00
Peter Barker
f005ee4a4c Copter: use camera singleton to get camera rather than callback 2018-08-31 15:48:56 +10:00
Peter Barker
ec52c22c7c Copter: GCS_MAVLink uses compass singleton, stop implementing get_compass 2018-08-31 15:48:56 +10:00
Randy Mackay
e44f7dc3e1 Copter: minor fix to user parameters 2018-08-31 09:25:37 +09:00
SergeyBokhantsev
af6303c82b Copter: User parameters implementation 2018-08-31 08:42:03 +09:00
Arjun Vinod
78be026d83 Copter: fixed typo 2018-08-29 09:36:58 +09:00
Randy Mackay
9d4ce91406 Copter: 3.6.0-rc8 release notes 2018-08-28 11:05:34 +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
Michael du Breuil
433f01ddf0 Copter: Remove unneeded ServoRelayEvent mask set 2018-08-20 21:31:06 -07:00
Peter Barker
214adc121f Copter: mode_autotune: factor out common filter reset code 2018-08-21 08:45:59 +09:00
Pierre Kancir
17c12dab2a Copter: correct payload_place flytolocation 2018-08-17 21:14:57 +09:00
Peter Barker
09d8a33aaf Copter: stop passing ahrs to PrecLand constructor 2018-08-17 21:14:57 +09:00
Peter Barker
dd33fce3b1 Copter: remove AC_Sprayer from make.inc 2018-08-17 15:33:35 +09:00
Peter Barker
7a065db2bb Copter: move sprayer update function into scheduler table 2018-08-17 15:33:35 +09:00
Peter Barker
6e0b5e307a Copter: move handling of sprayer and gripper up 2018-08-17 15:33:35 +09:00
Alexander Malishev
f5c540a127 Copter: publish navigation info to OSD 2018-08-16 10:26:34 +10:00
Peter Barker
bf6e137c87 Copter: bump version on master to 3.7.0 2018-08-13 10:11:37 +09:00
fnoop
cbde39c844 Copter: integrate precland logging changes 2018-08-08 10:31:19 +09:00
Peter Barker
62d0bc986a Copter: toymode: correct static-vs-singleton compilation error 2018-08-08 09:00:11 +10:00
Randy Mackay
9fff6d1e71 Copter: restore CHx_OPT param descriptions 
This will help users who are using beta mission planner (which gets param descriptions from master) with Copter-3.6 which still has these parameters.
 2018-08-07 09:47:39 +09:00
Randy Mackay
346e9e36db Copter: remove compass accumulate 2018-08-06 11:05:34 +10:00
Peter Barker
f2b1387c1c RC_Channel: add AUTOTUNE to init_aux_function routine 
Also, cark it in SITL if we fail to initialise an aux function
 2018-08-05 07:52:28 +10:00
Andrew Tridgell
59cd468444 Copter: fixed RC_Channels parameter docs 2018-08-04 12:28:38 +10:00
Matt
15823d9e97 AP_LANDING_GEAR: Remove deploy lock 
Since the RC switches only respond to changes, there is no longer a need
for this lock state. The gear can be retracted or deployed by RC switch,
flight mode, or mavlink command freely without convoluted unlocking
methods.  Also removed use of this in the associated Copter code.
 2018-08-03 10:59:15 +09:00
Matt
fd332287b2 COPTER: Add mavlink landing gear control 
Add MAV_CMD_AIRFRAME_CONFIGURATION (# 2520), which is for landing gear
control.
Param 1 is not used in ArduPilot
Param 2 is deploy/retract. 0 is deploy, 1 is Retract
 2018-08-03 10:59:15 +09:00
Randy Mackay
66525ab0f9 Copter: release notes for 3.6.0-rc7 2018-08-02 13:49:14 +09:00
Randy Mackay
f30d999e0b Copter: remove compassmot's compass init and accumulate 
when compass mot is started, the main loop has been running so the compass will already have been initialised and have good readings
Also remove unnecessary call to get_primary compass
 2018-08-02 12:26:14 +09:00
Randy Mackay
6b50a810f6 Copter: compassmot format fixes 2018-08-02 12:26:14 +09:00
Peter Barker
b19c03a3c6 Copter: rename switches.cpp to RC_Channel.cpp 2018-08-02 09:52:29 +09:00
Peter Barker
e7e56dde7a Copter: move handling of RC switches into RC_Channel 2018-08-01 12:11:30 +09:00
Peter Barker
9b7b480688 Copter: force log-disarmed on crash check triggering 2018-08-01 11:28:52 +09:00
Michael du Breuil
858b51c927 Copter: Update notify initilization 2018-08-01 09:22:09 +10:00
Michael du Breuil
5825222818 Copter: Remove redundant throttle channel setting 2018-08-01 09:19:20 +10:00
Peter Barker
9c72a8ecc7 Copter: simplify autotune's filter value determination 2018-07-31 13:37:43 +09:00
Pierre Kancir
84ff9c6928 Copter: switch to pos control when takeoff finish 2018-07-31 10:40:57 +10:00
Randy Mackay
e7bc255e02 Copter: disable Guided_NoGPS on v2 boards to save flash space 2018-07-30 10:14:04 +09:00
Randy Mackay
e239ac985d Copter: disable RPM meter on v2 boards to save flash space 2018-07-30 10:14:04 +09:00
Peter Barker
87f8e523de Copter: clarify takeoff comments 2018-07-27 13:08:27 +10:00
Peter Barker
22f7f29045 Copter: move all of waypoint-takeoff into Mode namespace 2018-07-27 13:08:27 +10:00
Peter Barker
11aeec6dd1 Copter: factor out auto_takeoff_run from auto and guided 
This code was identical.
 2018-07-27 13:08:27 +10:00
SergeyBokhantsev
ea3de59107 Copter: implement user auxswitch functions 2018-07-26 20:27:49 +09:00
Pierre Kancir
1aeb9446c0 Copter: simplify home distance and bearing calculation 2018-07-26 10:37:25 +09:00
Raouf
f78ffefd66 Copter: Handle always land mode 2018-07-26 10:11:12 +09:00
Peter Barker
9e6810933e Copter: don't compile AP_Menu library 2018-07-23 14:20:22 +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
Randy Mackay
7aeeb61f69 Copter: motor test can spin motor for 10min 
A user requested they be able to perform longer term tests of their vehicle's motors
 2018-07-17 19:42:39 +09:00
Randy Mackay
b3c28bd934 Copter: minor format fix to motor_test 2018-07-17 19:42:39 +09:00
Michael du Breuil
3755b2ac0f Copter: Remove unused ADC include 2018-07-17 09:29:50 +10:00
Randy Mackay
86b85c569a Copter: release notes for 3.6.0-rc6 2018-07-16 10:49:38 +09:00
Randy Mackay
81bb2218f1 Copter: 3.5.7 release notes 2018-07-16 10:49:25 +09:00
Randy Mackay
1333fac887 Copter: 3.5.7-rc1 release notes 2018-07-12 14:56:00 +09:00
Randy Mackay
f543ca552c Copter: 3.6.0-rc5 release notes 2018-07-11 15:58:12 +09:00
Randy Mackay
821aa3bece Copter: 3.5.6 release notes 2018-07-11 12:12:30 +09:00
Lauri Juusela
a3587f844c Copter: RTL if not in AUTO mode and FS_THR_ENABLED_CONTINUE_MISSION enabled 2018-07-10 08:41:58 +09:00
Randy Mackay
b5b9ff8dbc Copter: 3.5.6-rc1 release notes 2018-07-07 11:40:02 +09:00
Peter Barker
819d892baf Copter: handle MAV_CMD_ACCELCAL_VEHICLE_POS in GCS base class 2018-07-06 09:43:09 +10:00
Peter Barker
7fc580921a Copter: handle command_long in GCS base class 2018-07-06 09:43:09 +10:00
Peter Barker
aa4ee64af2 Copter: handle command_int in base class 2018-07-06 09:43:09 +10:00
liang.tang
57598e5b9f ArduCopter：mode_guided: yaw initialization already in pos_control_start() 2018-07-05 15:48:00 +01:00
Randy Mackay
8a96ee4e1d Copter: 3.6.0-rc4 release notes 2018-07-05 14:36:46 +09:00
chobits
6f2814d70c Copter: clarify RTL_ALT parameter description 2018-07-05 10:30:07 +09:00
Peter Barker
c2f9b857a4 Copter: remove unused baro_climbrate variable 2018-07-04 21:08:47 +01:00
Peter Barker
8bc96a2e13 Copter: use compass singleton for logging 2018-07-04 20:11:27 +01:00
Andrew Tridgell
3e08132828 Copter: CH_12 can be used with any HAL, not just HAL_PX4 2018-07-04 20:05:10 +01:00
Luis Vale Gonçalves
dc154f0b24 Copter: minor fix to 3.6.0-rc3 release notes 
Clarification of the boards tested from partner CUAV
 2018-07-03 21:14:55 +09:00
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
Peter Barker
c84b102c1c Copter: move mavlink reboot code up to base class 2018-07-03 12:12:25 +10:00
Peter Barker
7785a962dc Copter: fix inconsistent setting of AP_Notify::flags.pre_arm_gps_check 2018-07-03 09:34:43 +10:00
Luis Vale Gonçalves
6194413829 Copter: clarify PILOT_THR_BHV param desc 2018-07-03 08:24:46 +09:00
Alexander Malishev
7bfeeb5877 Copter: fixed board name in release notes 2018-07-03 08:11:39 +09:00
Jacob Walser
64577bfbe1 Copter: refactor output_test -> output_test_seq 2018-07-02 11:31:58 -04:00
Randy Mackay
4061ed03d9 Copter: 3.6.0-rc3 release notes 2018-07-02 18:34:35 +09:00
Peter Barker
f4be542169 Copter: autotune: raise priorities of autotune success and param saved 
Closes #8734
 2018-06-30 11:40:39 +09:00
Lucas De Marchi
1a45aa12f5 AP_Param: warn on last pass only about unknown parameters 
Do not warn about unknown parameters on the first pass, i.e. when
AP_Param:load_all() is called. This is because we may still not know
about dynamically loaded parameters. When we call the second (last)
time, we expect to already know all possible parameters, so print a
warning to both console and the debug terminal.
 2018-06-28 10:18:19 -07:00
Lucas De Marchi
7f0d5ddf21 AP_Param: stop panic()'ing on unknown parameters 
Our track record on keeping parameters up to date with master is not
great and panic()'ing when loading them apparently is not helping
because every and each vehicle has a different file.

On aerofc load_defaults_file() is used in the same way as
load_embedded_param_defaults() is in which the panic() behavior has been
previously removed.

This finishes the removal of the panic param and add warnings to the
debug console when reading the parameters (rather than when counting
them).
 2018-06-28 10:18:19 -07:00
Peter Barker
81b731b214 Copter: move copter-specific AP_Arming code into Copter subclass 2018-06-28 12:48:31 +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
724f34c7e7 Copter: use MAV_SYS_STATUS_SENSOR_PROXIMITY for proximity sensor 
Copter: correct laser sensor health bits
 2018-06-26 10:25:28 +10:00
Peter Barker
a7a6cfa99f Copter: correct comment 2018-06-26 10:25:28 +10:00
Peter Barker
ff17c78c67 Copter: create Copter::Mode::_TakeOff subobject from takeoff_state 2018-06-26 09:11:21 +09:00
Peter Barker
7883582c65 Copter: move takeoff state into Mode class 2018-06-26 09:11:21 +09:00
Peter Barker
597e876953 Copter: clean up do_user_takeoff 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
Pierre Kancir
2d5cbd2cf8 ArduCopter: report crosstrack_error 2018-06-26 08:42:14 +09:00
Peter Barker
291102360a Copter: use check_failed function 2018-06-23 15:33:19 +10:00
Andrew Tridgell
b43316d743 Copter: added ESC_TELEMETRY to mavlink streams 2018-06-21 10:48:02 +10:00
Peter Barker
ca8a1ae488 Copter: use magic force arm/disarm definitions 2018-06-20 11:43:38 +10:00
Peter Barker
fd9ce90b8e Copter: option to force arm, bypassing checks 2018-06-20 11:43:38 +10:00
Peter Barker
4d6408857f Copter: return appropriate response to failed disarm 2018-06-20 11:43:38 +10:00
Peter Barker
485cafb343 Copter: use AP_FWVersion singleton 2018-06-18 19:10:37 +01:00
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
Randy Mackay
2af8e673cc Copter: add cork-push to esc calibration 
Also remove unnecessary duplicate call to motors::set_throttle_passthrough_for_esc_calibration
 2018-06-13 13:20:08 +09:00
Randy Mackay
41767e0458 Copter: esc calibration fix 2018-06-13 13:20:08 +09:00
Peter Barker
955baa47c2 Copter: move handling of MAV_CMD_DO_GRIPPER up 2018-06-11 19:07:39 +01:00
apinxiko
e440583a7c Copter: Beeping when first reaching waypoint while in holding there 2018-06-11 16:45:48 +09:00
apinxiko
5df4b9f6fd Beeping when first reaching waypoint even while in holding there 2018-06-11 16:45:48 +09:00
chobits
75c2a2b02a Copter: check for fence breaches when disarmed 2018-06-11 11:41:10 +09:00
bnsgeyer
b4d2406062 Copter: Tradheli - fixes collective jump on rotor shutdown in althold and loiter 2018-06-11 08:39:27 +09:00
Randy Mackay
a97e37be9f Copter: 3.6.0-rc2 release notes 2018-06-06 12:02:40 +09:00
Peter Barker
4e3bbe9311 Copter: move sanity check for rangefinder alt to within protected func 
get_surface_tracking_climb_rate can do an additional check....
 2018-06-06 08:33:56 +09:00
Peter Barker
ab68e4fe8b Copter: log quiet-nan for rangefinder-desired-alt when not using it 2018-06-06 08:33:56 +09:00
Pierre Kancir
b95fe2b8b1 Copter: rename SPRAYER-enabled-define to SPRAYER_ENABLED 2018-06-05 12:08:17 +09:00
Michael du Breuil
6c94811e00 Copter: Update to support new RC override conventions 2018-06-05 09:51:09 +10:00
Peter Barker
6d9a131a26 Copter: make VFR_HUD always return height above MSL 2018-06-05 09:38:20 +10:00
Michael du Breuil
749e0acd10 Copter: Remove software type param 2018-06-05 09:14:12 +10:00
Peter Barker
7015d42ab2 Copter: Location gets ahrs from singleton 2018-06-01 16:18:33 +01:00
Peter Barker
78d2c52a3f Copter: move try_send_message handling of EKF_STATUS_REPORT up 2018-06-01 16:12:45 +01:00
Peter Barker
e3ddf7dadd Copter: rename SPRAYER-enabled-define to SPRAYER_ENABLED 2018-06-01 15:13:05 +09:00
Peter Barker
4b4e66e2bd Copter: correct comment about mode change 2018-06-01 15:01:46 +09:00
Peter Barker
db60e93716 Copter: correct comment on deprecated switch option 2018-06-01 15:01:46 +09:00
Andrew Tridgell
b8d47f346e Copter: fixed interlock check on helis 
the motors check is always false when disarmed, so can't be used for
arming check
 2018-06-01 10:14:20 +09:00
Randy Mackay
25961b6d13 Copter: flip mode format fix 2018-05-31 15:21:50 +09:00
Randy Mackay
0ba105f649 Copter: minor format fix to guided 
no need to specify copter
non-functional change
 2018-05-31 15:21:42 +09:00
Peter Barker
c09ccf5b61 Copter: split home-set and home-locked state 2018-05-29 14:38:45 +10:00
Peter Barker
7c98082389 Copter: create persist_streamrates() callback to indicate persistence 2018-05-29 13:08:29 +10:00
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
apinxiko
a1fd1cb9b2 Copter: avoid keeping buzzing while in holding at waypoint 2018-05-25 14:02:13 +09:00
Randy Mackay
25475b65d9 Copter: proximity sensor reports laser unhealthy when no data 2018-05-24 12:46:38 +09:00
Peter Barker
81e9edd80a Copter: move sending of sim state up 2018-05-23 18:36:50 +10:00
Peter Barker
ec1539f9c8 Copter: add type-correctness for stream messages 2018-05-22 11:21:25 +10:00
Peter Barker
de7a8e20e2 Copter: eliminate MSG_LIMITS_STATUS 2018-05-22 09:05:14 +09:00
Pierre Kancir
aa8a90271e ArduCopter : HAL_RCINPUT_WITH_AP_RADIO definition 2018-05-22 08:35:01 +09:00
bnsgeyer
86440b20ba Copter: Tradheli - disables inverted flight option for single and dual heli frames 2018-05-22 08:35:03 +10:00
Peter Barker
50ca76b6bd Copter: move try_send_message of servo-output-raw up 2018-05-21 19:08:08 +01:00
Peter Barker
7c8583d51d Copter: implement sending of position_target_global_int 2018-05-18 20:26:37 +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
1437eb008d Copter: remove arguments to send_home and send_ekf_origin 2018-05-17 20:42:36 +10:00
Peter Barker
da1b2579c4 Copter: move send_attitude up to GCS_MAVLINK 2018-05-17 18:28:43 +10:00
Peter Barker
e4a2b03488 Copter: move try_send_message sending of scaled_pressure up 2018-05-17 15:37:14 +10:00
Peter Barker
88883c7c7f Copter: move try_send_message sending of sensor offsets up 2018-05-17 15:37:14 +10:00
Peter Barker
93f1815d50 Copter: move try_send_message of RAW_IMU up to GCS_MAVLINK 2018-05-17 15:37:14 +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
Michael du Breuil
296296ab6c Copter: Use named float wrapper 2018-05-17 00:59:45 +01:00
Michael du Breuil
1c6031e5e5 Copter: AP_Proximity is now a common library 2018-05-16 23:21:41 +01:00
Michael du Breuil
fe8e1b4274 Copter: Move MAVLink rangefinder up to parent 2018-05-16 23:21:41 +01:00
Michael du Breuil
033a8ec4d5 Copter: Send all distance sensors 2018-05-16 23:21:41 +01:00
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
Randy Mackay
6f138ddcfa Copter: ekf failsafe first enforces landing with no GPS 
thanks to khancyr for spotting this
 2018-05-10 08:59:37 +09:00
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
ec6fb0c612 Copter: move sending of battery data up 2018-05-09 11:40:31 -07:00
Peter Barker
e90ce4ced9 Copter: move data stream send up 2018-05-09 16:15:38 +10:00
Peter Barker
dee40f3fe5 Copter: make scheduler track whether it has called the delay callback 2018-05-09 16:15:38 +10:00
Peter Barker
b561e8b7e9 Copter: AP_RSSI is included in build for all vehicles 2018-05-08 12:33:32 +01:00
Peter Barker
6dd9f50f7c Copter: move try_send_message handling of RC_CHANNELS up 2018-05-08 12:33:32 +01:00
Peter Barker
75ad33ddcd Copter: move try_send_message of heartbeats up to GCS_MAVLINK 2018-05-07 11:30:13 -06:00
Peter Barker
d7af5c0c44 Copter: move try_send_message handling of VIBRATION up 2018-05-07 11:23:28 -06:00
Peter Barker
dc61884303 Copter: remove rcmap member from AP_AdvancedFailsafe 2018-05-05 18:06:31 +09:00
Sarthak Bhagat
0bd21b0b3f Copter: SmartRTL add pilot yaw control 2018-04-30 13:15:44 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
c8d1dad493 Copter: document stream content 2018-04-27 19:54:00 +09:00
Randy Mackay
c85bae8d88 Copter: correct dodeca-hexa copter mav-type 2018-04-27 14:57:00 +09:00
Andrew Tridgell
963f86b7bf Copter: remove old pde file 
this was here for upgrading very old MissionPlanner versions. We can
remove it now
 2018-04-26 14:25:01 +10:00
Michael du Breuil
91a48a5040 Copter: Support new RC_Channels::read_input() 2018-04-26 08:00:09 +10:00
night-ghost
51a189e906 ArduCopter: devo telemetry support (RX705/707) 2018-04-24 10:44:28 +10:00
Randy Mackay
2fff9561a7 Copter: 3.6.0-rc1 release notes 2018-04-21 09:22:42 +09:00
Pierre Kancir
3be6c0e26b ArduCopter : clean unused definitions 2018-04-20 15:26:47 +01:00
Peter Barker
4b5953734d Copter: use AP_ServoRelayEvents singleton 2018-04-18 20:31:55 +09:00
Peter Barker
04885b127c Copter: GPS now logs its own data 2018-04-18 13:50:55 +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
Peter Barker
948b90ed97 Copter: rename roi_WP to just roi 
A Vector3f is not a waypoint.

This should really be "Point Of Interest" rather than "Region Of
Interest"
 2018-04-18 13:27:43 +09:00
Peter Barker
ba8b3e2415 Copter: create an AutoYaw helper object to hold auto-yaw state 2018-04-18 13:27:43 +09:00
Pierre Kancir
1f30ae3076 ArduCopter: fix float to double warning 2018-04-18 10:27:10 +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
Randy Mackay
a38507623d Copter: autotune minor comment fix 2018-04-12 20:51:37 +09:00
Randy Mackay
1b38a377ff Copter: autotune replace 1 with true 2018-04-12 20:51:37 +09:00
Leonard Hall
7204d46ccb Copter: Autotune - Fix low angle P issue 2018-04-12 20:51:37 +09:00
Peter Barker
d9ab8d6569 Copter: sprayer now uses ahrs singleton; stop passing reference 2018-04-12 14:23:33 +09:00
Michael du Breuil
d96919ed21 Copter: Use RC_Channels instead of hal.rcin 2018-04-11 21:47:07 +01:00
Randy Mackay
2817cc61f3 Copter: add heliquad to frame-class param description 2018-04-11 19:35:06 +09:00
Randy Mackay
bf6e1993a1 Copter: resolve compiler warning re temp_calibration init order 2018-04-11 11:31:17 +09:00
Pierre Kancir
9e298b3b2f Copter: sprayer uses ahrs in constructor 2018-04-11 09:41:33 +09:00
Michael du Breuil
adb7ecef92 Copter: Check MANUAL_CONTROL target 2018-04-10 16:54:34 +01:00
Randy Mackay
13b8ad0e94 Copter: remove sport from pixhawk v2 builds 
this mode is almost never used
 2018-04-09 09:10:01 +09:00
Andrew Tridgell
9c040105d6 waf: split copter and heli builds 
this makes things less confusing for users
 2018-04-08 21:26:16 +10:00
Peter Barker
d219540554 Copter: correct compilation when AFS is enabled 2018-04-07 09:46:54 +09:00
Peter Barker
d0425c7b2f Copter: correct compilation when precland is disabled 
Closes #8098
 2018-04-07 09:44:43 +09:00
Andrew Tridgell
1ffe75957e Copter: fixed ESC calibration for DShot 2018-04-07 09:10:29 +10:00
Leonard Hall
5c1d895f82 Copter: autotune announce only while tuning 2018-04-06 14:48:28 +09:00
Leonard Hall
83fac326a4 Copter: autotune check for vel overshoot in angle P 
this change reduces the chance of over tuned angle P
 2018-04-06 14:48:28 +09:00
Peter Barker
975ad608eb Copter: honour defines for optional feature's log messages 2018-04-05 17:37:02 +09:00
Peter Barker
893b761533 Copter: correct terrain-alt logging 
Also change to using an out-of-band value upon no-terrain-alt-available
 2018-04-05 12:30:05 +09:00
Peter Barker
2d31a7b318 Copter: remove check for enabled in for Log_Write_Beacon 
The DataFlash library does this now
 2018-04-04 16:20:33 +09:00
Randy Mackay
59e4749fd0 Copter: integrate AC_Loiter 
includes param conversion
 2018-04-04 10:45:10 +09:00
Randy Mackay
5f2f446199 Copter: add AC_Loiter to make build 2018-04-04 10:45:10 +09:00
Randy Mackay
acfc3a606a Copter: circle mode uses AC_Circle get_distance_to_target 2018-04-04 10:45:10 +09:00
Francisco Ferreira
8ff74f31e9
Copter: fix method shadowing 2018-04-03 16:29:33 +01:00
Peter Barker
0c8110ecb2 Copter: factor vehicle's mavlink send_heartbeat 2018-04-03 13:05:19 +01:00
Peter Barker
d58e2214d2 Copter: tidy handling of barometer calibrations 2018-04-02 23:25:05 +01:00
Peter Barker
cca4d5136e Copter: move common calibration functions up 2018-04-02 23:25:05 +01:00
Peter Barker
c80714b820 Copter: factor out preflight calibration function 2018-04-02 23:25:05 +01:00
Peter Barker
ebebb3b107 Copter: use ahrs singleton for AP_Follow and SmartRTL 2018-04-02 17:16:02 +01:00
Randy Mackay
b3cb491bb1 Copter: minor format fix to mode_land 2018-03-31 14:19:13 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
d633ba8c46 Copter: Add option to disable RPM module 2018-03-30 09:36:48 +09:00
Ebin
914f3385a4 ArduCopter: Moved land control fn definitions to mode.cpp (NFC) 2018-03-29 16:54:54 +01:00
Ebin
1ff4019ddf ArduCopter: moved landing control fns from Copter to Mode 
land_run_horizontal_control(),land_run_vertical_control(),get_alt_above_ground() moved to Mode
 2018-03-29 16:50:00 +01:00
Randy Mackay
cbd2756467 Copter: loiter loses redundant z-axis init 2018-03-29 08:26:42 +09:00
Leonard Hall
a3a1601837 Copter: althold remove redundant z-axis init 2018-03-29 08:26:42 +09:00
Leonard Hall
8ff8364252 Copter: remove redundant takeoff_stop from flowhold 2018-03-29 08:26:42 +09:00
Peter Barker
ce0f0938ee Copter: make superclass handle command_ack packets 2018-03-28 09:28:23 +09:00
Michael du Breuil
291531e056 Copter: Support new battery failsafes 2018-03-27 22:12:21 +01:00
priseborough
4b00f399b4 Copter: Clarify definition for gps_glitching flag 2018-03-27 20:28:55 +09:00
Peter Barker
f8d5fe96d8 Copter: allow DataFlash to handle log sending 2018-03-26 09:22:47 +09:00
Bruno Camba
7b50517232 Copter: Moved commands_logic to mode_auto 
Moved methods from commands_logic.cpp to
the mode_auto.cpp. Method order is
the same as declared in mode.h
 2018-03-23 10:07:12 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
580143d404 Copter: Add whitespaces to increase readability and consistency (NFC) 2018-03-23 09:34:11 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
58480435bb Copter: Add missing parameter units (NFC) 2018-03-23 09:34:11 +09:00
Peter Barker
41960704b0 Copter: move handling of visual odometry messages up 2018-03-23 09:28:07 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
4f0cf6d334 Copter: Parameter ACRO_THR_MID is only used in ACRO flight mode 2018-03-23 09:14:23 +09:00
Pierre Kancir
9c23aa5ec3 ArduCopter: fix FALLTHROUGH 2018-03-21 08:24:56 +09:00
apinxiko
032ad9a67b Copter: avoid hard stop in missions 2018-03-20 10:30:38 +09:00
kozinalexey
8b5f5a5fa0 Copter: fix camera relay trigger 
camera.update() for automatic shots always called from
void Copter::update_GPS(void), after gps read
copter specific bug
 2018-03-20 10:13:49 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
5f9879fae1 Copter: remove more parameters when ACRO is disabled 2018-03-20 08:13:06 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
d78c2a1015 Copter: Fix copy-paste error in toy_mode 2018-03-20 08:13:06 +09:00
night-ghost
a1797beb41 Copter: removed 1ms delay on startup 
handled by GCS library now, not needed here
 2018-03-20 10:08:20 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
8e143aa637 Copter: Do not switch into a disabled flight mode 2018-03-19 15:06:41 +00:00
Ebin
d8f56b3511 ArduCopter: changed signature for get_pilot_desired_lean_angles() 
Removes first two redundant input parameters, makes fn non static, makes fn const
 2018-03-19 17:51:39 +09:00
Peter Barker
edcfa7ffd4 Copter: move handling of get_home_position up 2018-03-19 10:32:37 +09:00
Peter Barker
45f2312bfe Copter: move home state into AP_AHRS 2018-03-19 10:32:37 +09:00
Peter Barker
52882d11fa Copter: AP_TempCalibration does not take reference to ins 2018-03-16 00:37:35 -07:00
Peter Barker
2749ee9060 Copter: use ins singleton 2018-03-16 00:37:35 -07:00
Randy Mackay
feecbe442f Copter: use multiply instead of divide in param conversion 2018-03-16 13:50:57 +09:00
Randy Mackay
d7ea8f073f Copter: run guided velocity control at main loop rate 2018-03-16 13:50:57 +09:00
Randy Mackay
4a74b1b5e5 Copter: replace NTUN with PSC logging 2018-03-16 13:50:57 +09:00
Randy Mackay
0392d2752d Copter: tuning rc-feel uses multiply instead of divide 2018-03-16 13:50:57 +09:00
Randy Mackay
1035645f5c Copter: poshold always resets loiter I term 2018-03-16 13:50:57 +09:00
Leonard Hall
a727305a59 Copter: integrate attitude control EKF inertial-frame-reset 2018-03-16 13:50:57 +09:00
Randy Mackay
f368ff6664 Copter: parameter conversion from RC_FEEL_RP to ATC_INPUT_TC 2018-03-16 13:50:57 +09:00
Leonard Hall
8ac653cabf Copter: AutoTune integrate renamed use_sqrt_controller 2018-03-16 13:50:57 +09:00
Randy Mackay
853d7ab573 Copter: remove setting of pos-con jerk 2018-03-16 13:50:57 +09:00
Leonard Hall
7511781a7e Copter: add accel target to NTUN log msg 
Also rename NTUN column headers from D (meaning Desired) to T (meaning Target)
 2018-03-16 13:50:57 +09:00
Leonard Hall
f9acc8a666 Copter: guided removes xy mode in calls to pos-con 
Also limit angle to hold altitude
 2018-03-16 13:50:57 +09:00
Randy Mackay
1a0be015f9 Copter: land, loiter, rtl provide dt to AC_WPNav::set_pilot_desired_acceleration 
Also fix accelerations/lean-angles for land and rtl-land
 2018-03-16 13:50:57 +09:00
Leonard Hall
93de23e7c4 Copter: get-pilot-desired-lean-angles accepts another angle-max 2018-03-16 13:50:57 +09:00
Leonard Hall
1540f98888 Copter: add angle inputs to Loiter 2018-03-16 13:50:57 +09:00
Leonard Hall
9544b1763b Copter: replace smoothing gain with AC_AttitudeControl::set_input_tc 2018-03-16 13:50:57 +09:00
Ebin
185f41d5bd Copter arm_checks(): PreArm in error msg changed to Arm 2018-03-16 09:49:54 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
7df1419579 Copter: add missing MAGNETOMETER and STATS_ENABLED build defines 2018-03-15 15:03:22 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas
115ed491c0 Copter: Obey RANGEFINDER_ENABLED, AUTOTUNE_ENABLED and AC_TERRAIN build macros 2018-03-15 15:03:22 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas
5b7116bbbd Copter: Fix else formating (NFC) 
git history on these lines is not important, this is a simple else
 2018-03-15 07:51:26 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
db90ee6841 Copter: Remove RTL_ parameters if RTL flight mode is disabled 2018-03-15 07:38:50 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
21c33b60db Copter: Remove DRIFT mode code if DRIFT mode is disabled. 2018-03-15 07:38:14 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
ed36ec3c29 Copter: add option to disable THROW mode 2018-03-15 07:38:14 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
b27c00dc5f Copter: add option to disable ACRO mode 2018-03-15 07:38:14 +09:00
Randy Mackay
20ac17cda8 Copter: remove adsb beacon nav-guided and visodom from min features 2018-03-14 20:41:47 +09:00
Ebin
b8a307cdd0 Copter: Changed log message IDs to enum 
Changes log message IDs to enum, removes values in LoggingParameters enum
and removes deprecated params in LogParameters.
 2018-03-14 09:33:39 +09:00
Randy Mackay
af207caa1f Copter: move get_pilot_desired_lean_angles higher in cpp 
this makes the definition in the .h and implementation in .cpp files appear in the same order
 2018-03-14 09:33:39 +09:00
Ebin
20995b909f Copter: Moved get_pilot_desired_lean_angles to mode.cpp 2018-03-14 09:33:39 +09:00
Andrew Tridgell
62522a4e1d Copter: fixed docs for Follow mode number 2018-03-13 07:53:16 +09:00
Peter Barker
d88bd52a53 Copter: use baro singleton 2018-03-08 21:20:05 -08:00
Peter Barker
9f05556801 Copter: delete correct assignment operator 2018-03-08 21:20:05 -08:00
Peter Barker
9bffeb4117 Copter: use AHRS singleton in GCS_MAVLink 2018-03-07 12:34:39 +00:00
Peter Barker
bc4f021516 Copter: use AP::ahrs() for ADSB 2018-03-07 12:34:39 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas
35a4748c06 Copter: follow mode renames and comment improvements 2018-03-06 09:50:16 +09:00
Peter Barker
af56826107 Copter: follow mode fixups 
add follow to FLTMODEx param descriptions
remove follow's set_velocity method
10hz logging of desired velocity in follow mode
follow mode uses pos error P gain
add send-debug-via-mavlink option
don't enter follow if follow lib is disabled
follow debug slowed to 1hz
disable follow on min-features builds
 2018-03-05 15:08:08 +09:00
Randy Mackay
6ee101ca98 Copter: rename chase to follow 2018-03-05 15:08:08 +09:00
Randy Mackay
053983eb70 Copter: integrate AP_Follow into chase mode 2018-03-05 15:08:08 +09:00
Peter Barker
199455dc56 Copter: add chase mode 2018-03-05 15:08:08 +09:00
Randy Mackay
0840f0e8ae Copter: add AP_Follow to build 2018-03-05 15:08:08 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
bc86ca0e3c Copter: simplify Log_Write_Proximity 2018-03-03 17:13:34 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas
b0f22833f6 Copter: Add GRIPPER_ENABLED macro to user config file 2018-03-03 17:13:24 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas
c1246c59e0 Copter: disable scheduler tasks for optional features 2018-03-03 17:10:34 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas
bbd1aa1cab Copter: Improve interoperation of AC_AVOID_ENABLED and BEACON_ENABLED 2018-03-03 17:10:26 +00:00
Pierre Kancir
50c3ed1460 Copter : allow rc_override input at start 
found by chobitsfan
 2018-03-02 16:23:11 +00:00
Andrew Tridgell
cf00bd99ea Copter: enanle RC override by default 2018-03-02 12:52:50 +11:00
Andrew Tridgell
30572692c4 Copter: added ALLOW_ARM_NO_COMPASS 
for skyviper-f412
 2018-03-02 12:52:50 +11:00
night-ghost
adcc309f15 Copter: allow AP_Stats to be optional 2018-03-02 07:23:35 +11:00
murata
c0954b557e Copter: move BCN param desc within define 
non-functional change to make the formatting consistent
 2018-02-28 13:17:40 +09:00
Peter Barker
398d0d1f37 Copter: do not allow toy mode on Helicopters 2018-02-27 14:22:32 +09:00
Peter Barker
b8e1f03599 Copter: add define for disabling beacon 2018-02-27 07:43:13 +09:00
Peter Barker
0e68ce2ad8 Copter: correct #error prerequisites 2018-02-27 07:43:13 +09:00
Peter Barker
5b355214fd Copter: add option to disable CIRCLE flight mode 
Saves about 2.4kB of flash
 2018-02-27 07:43:13 +09:00
Peter Barker
e4898e1d60 Copter: add option to disable GUIDED_NOGPS flight mode 
Saves about 6.3kB of flash
 2018-02-27 07:43:13 +09:00
Peter Barker
86b162e32f Copter: add option to disable BRAKE flight mode 2018-02-27 07:43:13 +09:00
Peter Barker
a7fe242e31 Copter: add option to disable RTL flight mode 2018-02-27 07:43:13 +09:00
Peter Barker
b8c432b1a1 Copter: add option to disable GUIDED flight mode 
Saves about 6kB of flash
 2018-02-27 07:43:13 +09:00
Peter Barker
0ddeb56a05 Copter: add option to disable DRIFT flight mode 
Saves about 1kB of space
 2018-02-27 07:43:13 +09:00
Peter Barker
e5056f8d40 Copter: add option to disable SPORT flight mode 
Saves about 1,500 bytes
 2018-02-27 07:43:13 +09:00
Peter Barker
7154f4dea4 Copter: add option to disable LOITER mode 2018-02-27 07:43:13 +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
3a61b86e65 Copter: add option to disable POSHOLD mode 
Saves about 4k 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
Peter Barker
eb9bbddcb7 Copter: add in_guided_mode mode callback 2018-02-27 07:43:13 +09:00
Peter Barker
e66034f183 Copter: allow fence to be disabled while AFS is enabled 2018-02-27 07:43:13 +09:00
Peter Barker
bb9af3b79d Copter: autotune: correct compilation when logging disabled 2018-02-27 07:43:13 +09:00
Peter Barker
9cffa13f7b Copter: correct mav result for compass motor calibration on heli 2018-02-24 00:27:41 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas
b24e5c3991 Copter: Obey MOUNT == DISABLED 2018-02-22 20:58:51 +10:00
Peter Barker
846506230d Copter: remove pointless initialisations 
Also reduce storage size of gps primary
 2018-02-22 17:51:35 +10:00
Peter Barker
1a68979050 Copter: correct nullptr check for circle nav allocation 2018-02-22 16:14:50 +10:00
Peter Barker
dc5ef168fd Copter: toymode: correct compilation with fence is disabled 2018-02-22 10:26:37 +10:00
Peter Barker
25665c5dd9 Copter: correct definition of unused variable when precision landing disabled 2018-02-22 10:26:37 +10:00
Peter Barker
06da2f50ce Copter: correct compilation when logging is disabled 2018-02-22 10:25:39 +10:00
Andrew Tridgell
8d49e1ac18 Copter: re-added reason to mode change log msg 
this was lost in the mode restructuring
 2018-02-22 09:07:59 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas
def098bd8a Copter: obey ADSB_ENABLED == DISABLED 2018-02-21 22:11:34 +09:00
Randy Mackay
f0534a35d1 Copter: format change for includes 
non-functional change
 2018-02-21 21:56:01 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
137de0fea5 Copter: conditionaly include more header files 
this should help catch missing macros
 2018-02-21 21:55:59 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
381bae1a4a Copter: add missing defines to config.h 2018-02-21 21:55:33 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
002494c048 Copter: Obey CAMERA == DISABLED 2018-02-21 17:03:28 +10:00
murata
6f20c6a97b Copter: Set the loop rate of G_dt as a variable. 2018-02-20 10:51:20 +11:00
Andrew Tridgell
348a757cc6 Copter: re-enable FLOWHOLD mode on skyviper 2018-02-14 18:27:00 +11:00
Andrew Tridgell
00ec3efb48 Copter: initialise G_Dt to 1.0/400 2018-02-13 17:15:05 +11:00
Peter Barker
730adc3f7c Copter: eliminate perf_update scheduler table shim 2018-02-13 17:15:05 +11:00
Andrew Tridgell
f06fdf330e Copter: use get_last_loop_time_s() for G_Dt 2018-02-13 17:15:05 +11:00
Andrew Tridgell
e0de4bccdf Copter: use filtered loop time 2018-02-13 17:15:05 +11:00
Peter Barker
de56ae56e1 Copter: pass log-performance-bit at init time rather than update time 2018-02-13 17:15:05 +11:00
Peter Barker
bfc373aeff Copter: move logging of PM messages to AP_Scheduler 2018-02-13 17:15:05 +11:00
Peter Barker
375911cd7c Copter: move PERF: statustext sending into AP_Scheduler 2018-02-13 17:15:05 +11:00
Peter Barker
80a3d63264 Copter: use AP_Scheduler's loop() function 2018-02-13 17:15:05 +11:00
Peter Barker
7f69c5d26d Copter: use scheduler ticks in place of mainloop_count 2018-02-13 17:15:05 +11:00
Peter Barker
bf6a2b8bb5 Copter: tell PerfInfo the configured loop rate 2018-02-13 17:15:05 +11:00
Randy Mackay
9eda7f4e31 Copter: global-pos-int uses system time 2018-02-13 08:52:48 +09:00
Peter Barker
e6ece4cf3d Copter: correct use of parent class constructors (heli) 2018-02-13 08:22:30 +09:00
Randy Mackay
0ca653c8dd Copter: disable winch, gripper, sprayer on v2 build 2018-02-12 13:50:55 +09:00
Andrew Tridgell
7938bd08bb Copter: make flowhold mode conditional 
reduces build size on px4-v2 by 4k
 2018-02-12 13:34:47 +09:00
murata
296ee7315b Copter: minor formatting fixes 2018-02-12 12:17:05 +09:00
murata
c31c2a4cf1 Copter: optionalize the winch 2018-02-12 12:16:57 +09:00
Peter Barker
40d74584ac Copter: remove shims used in scheduler 2018-02-12 11:19:34 +09:00
Peter Barker
8f8917369c Copter: correct use of parent class constructors 2018-02-09 13:41:12 +11:00
Peter Barker
5e55784707 Copter: remove unneeded and unwanted virtual keywords 2018-02-09 09:11:04 +09:00
Randy Mackay
4319e37f0c Copter: non-functional FlowHold changes 
class declaration moved to alphabetical position in mode.h
parameter descriptions include FlowHow at beginning to help distinguished from optical flow parameters
resolved compiler warnings
 2018-02-09 10:56:32 +11:00
Andrew Tridgell
763aee6b48 Copter: fixed units on flowhold brate rate 2018-02-08 17:36:33 +11:00
Andrew Tridgell
0ed75052f8 Copter: enable parameters inside mode objects 
this adds FHLD_* parameters for FlowHold mode. It is a large patch as
it needs to disentagle the mode class to enable it to be used in
Parameters.h
 2018-02-08 17:36:33 +11:00
Andrew Tridgell
9261e1cbde Copter: enable F412 toymode button setup 
different button mapping for new controller
 2018-02-08 17:36:33 +11:00
Andrew Tridgell
daf35f7a30 Copter: pass loop rate to perf_info 2018-02-08 17:36:33 +11:00
Andrew Tridgell
5a210a697e Copter: fixed flowhold build 2018-02-08 17:36:33 +11:00
Andrew Tridgell
af4f0c29ba Copter: enable TMODE (ToyMode) support 
this is for the skyviper button based transmitter control
 2018-02-08 17:36:33 +11:00
Andrew Tridgell
f442b91ea5 Copter: added FLOWHOLD flight mode 
This flight mode allows for position hold with optical flow without
needing a rangefinder for height. It can estimate its height from the
flow data and IMU
 2018-02-08 17:36:33 +11:00
Andrew Tridgell
a26d19b57c Copter: fill in flight mode in AP_Notify flags 
needed for AP_Radio
 2018-02-08 17:36:33 +11:00
Andrew Tridgell
ce0bcf1adc Copter: disable toy_mode by default 2018-02-08 17:36:33 +11:00
Andrew Tridgell
15166eff2e Copter: enable temperature calibration library 2018-02-08 17:36:33 +11:00
Andrew Tridgell
1f76f69d80 Copter: implement per-motor compass compensation 2018-02-08 17:36:33 +11:00
Andrew Tridgell
662afdc2fd Copter: fixed build warning 
double precision promotion
 2018-02-07 20:33:45 +11:00
Michael du Breuil
69da4041ac Copter: Move logging battery logging code to AP_BattMonitor 2018-02-06 00:11:32 +00:00
Tatsuya Yamaguchi
6698660fd6 Copter: fix Battery FailSafe action with auto mode 2018-02-05 15:13:25 +09:00
Peter Barker
ab7a9c9073 Copter: use zero_throttle_and_relax_ac in poshold, drift and autotune 2018-02-02 14:59:16 +09:00
murata
c13d6580ae Copter: delete \n from the log using gcs().send_text 2018-02-02 09:38:39 +09:00
Randy Mackay
5a1c3cf5f4 Copter: firmware text to ArduCopter 2018-01-31 12:13:57 +09:00
Randy Mackay
0f6762bbd2 Copter: PSC_ACCZ param name shortened 2018-01-31 08:48:21 +09:00
Randy Mackay
a3e9f72b0b Copter: fix default flight mode channel 2018-01-27 16:20:32 +09:00
Andrew Tridgell
89674482a7 Copter: added FLTMODE_CH parameter 
this allows for the flight mode to be on any RC channel, or no channel
at all to disable RC flight modes
 2018-01-27 12:01:35 +09:00
Peter Barker
a97301c0f2 Copter: do not allow arming in RTL 2018-01-25 09:53:51 +09:00
Pierre Kancir
10e6fe43dd Copter: Add a switch option to enable/disable RC_Override 2018-01-24 21:37:41 +09:00
Pierre Kancir
cfc69214e6 Copter: add LAND_ALT_LOW parameter 2018-01-24 21:14:35 +09:00
Randy Mackay
60c3ae1ec2 Copter: fix spelling in drift mode variable name 
non-functional change
 2018-01-24 17:13:15 +09:00
Randy Mackay
f8c1d08316 Copter: 3.5.5-rc1 release note update 2018-01-24 12:09:43 +09:00
Randy Mackay
929dd04f2a Copter: 3.5.5-rc1 release notes 2018-01-24 12:09:39 +09:00
Randy Mackay
eefa629039 Copter: remove setting accel_z PID controller's dt 
This is handled from within the pos controller
this commit can be merged with Copter: move pos-control pids to pos-control library
 2018-01-23 12:00:43 +09:00
Randy Mackay
8d6f8e4d9c Copter: move pos-control pids to pos-control library 2018-01-23 12:00:43 +09:00
Randy Mackay
6546ccbb3f Copter: velocity pi moved to position control library 2018-01-23 12:00:43 +09:00
Dylan Herman
20fe5bb98f Copter: add SmartRTL failsafe action 
Adds SmartRTL or RTL and SmartRTL or Land failsafe options for batt, throttle, and GCS failsafes
 2018-01-22 10:54:28 +09:00
Peter Barker
996115c0d3 Copter: eliminate MAIN_LOOP_SECONDS macro 2018-01-20 15:35:58 +11:00
Michael du Breuil
0ddcb0a6fb Copter: Support AP_BattMonitor_Params 2018-01-17 22:21:55 +00:00
Alexey Bulatov
8accfb97f6 ArduCopter: Check for nullptr for motors class pointer 
Because of added initialisation of UAVCAN send_heartbeat function
starts before motors initialisation. So we need check is object created.
 2018-01-17 07:24:17 -08:00
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
e85b1ac740 Copter: pass dt to avoidance calls 2018-01-16 12:13:48 +09:00
Leonard Hall
48d0ad26a6 Copter: mode_land sends dt to sqrt controller 2018-01-16 12:13:48 +09:00
Randy Mackay
b47d575f65 Copter: minor spelling fix 
non-functional change
 2018-01-12 16:51:25 +09:00
Peter Barker
6bcdab55d0 Copter: rename sys_status methods from geofence_ to sys_status_ 2018-01-09 17:15:19 +00:00
Peter Barker
077b062701 Copter: change pre-arm checks to allow interlock to be enabled 
With this change we will continue to tell the user their interlock is
enabled, but we will not fail the pre-arm checks.

This will mean that the blinking-LED indicators will show the vehicle as
armable (flashing green / flashing blue), even if the interlock would
prevent arming.

This has the advantage that you don't need your vehicle in the
"dangerous" state to work out whether arming will work when you attempt
to arm it.

Note that we repeat the interlock switch check in the arming checks, and
it WILL fail if the interlock switch is enabled.
 2018-01-09 08:13:06 +09:00
Peter Barker
114628afe4 Copter: use zero_throttle_and_relax_ac in stab, guided, acro and auto 2018-01-08 12:02:49 +00:00
Peter Barker
8d658e1dbc Copter: correct misleading comment in mode_throw 2018-01-08 12:02:49 +00:00
Peter Barker
cb129fbdaf Copter: remove argument to check() 
Also, check() was check_fence()
 2017-12-28 15:38:37 +00:00
Peter Barker
d1201e4776 Copter: tidy zero_throttle_and_relax (NFC) 2017-12-27 12:09:06 +00:00
Peter Barker
71ad1b5815 Copter: use zero_throttle_and_relax_ac function 2017-12-27 12:09:06 +00:00
Peter Barker
41dc8554c0 Copter: pull out a zero_throttle_and_relax function 2017-12-27 12:09:06 +00:00
Peter Barker
4c7491a05b Copter: mode_auto's landing_gear_deploy method defers to mode_rtl 
Since we defer our rtl_run behaviour to the RTL flightmode, it should
also specify the landing gear behaviour
 2017-12-27 12:08:15 +00:00
Peter Barker
d9235d3d41 Copter: make landing_gear_should_be_deployed a base-class method 2017-12-27 12:08:15 +00:00
Peter Barker
dda38d65eb Copter: AP_AHRS no longer requires GPS in constructor 2017-12-27 00:58:02 +00:00
Matt
5d6c979f70 COPTER: Fix MOUNT_CONTROL yaw in missions 
If a the mount instances (gimbal) does not support yaw/pan control, the
copter needs to yaw in response to a DO_MOUNT_CONTROL command in
missions.  Checking if the mount has pan control, and if not, yawing the
copter was missing from the mission commands logic. As such, a
MOUNT_CONTROL command would control pitch but not yaw/pan.  This patch
impliments checking for pan control, and initiating copter yaw as
required.
 2017-12-23 10:57:31 +09:00
Matt
c0f0e3eca3 COPTER: Fix MOUNT_CONTROL yaw in guided 
If the mount instance does not support yaw/pan, the copter needs to yaw in
response to MSG_MOUNT_CONTROL and MAV_COMMAND_DO_MOUNT_CONTROL commands from
a GCS or co-computer. There was no checking for mount pan in the GCS_Mavlink
logic.  As such, no yaw takes place when a mount control command calls for it.
This patch impliments copter yaw control for both MSG_MOUNT_CONTROL and
MAV_COMMAND_DO_MOUNT_CONTROL in copter GCS_Mavlink.
 2017-12-23 10:57:31 +09:00
Peter Barker
4dcb5aa3de Copter: stop setting home distance in fence 2017-12-15 01:42:49 +00:00
Peter Barker
bf5f51a616 Copter: factor out takeoff_trigger from althold, sport and loiter 2017-12-14 23:45:54 +00:00
Randy Mackay
2c0df87585 Copter: Copter.h method reordering 2017-12-15 08:26:45 +09:00
Peter Barker
6c82f7671d Copter: move all commands logic into AUTO flightmode 2017-12-14 14:08:01 +09:00
Andrew Tridgell
8ab0ac8a16 Copter: removed create() method for objects 
See discussion here:

  https://github.com/ArduPilot/ardupilot/issues/7331

we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach

Thanks to assistance from Lucas, Peter and Francisco
 2017-12-14 08:12:28 +11:00
Peter Barker
7222380598 Copter: populate system status bits for fence 2017-12-13 10:04:50 +09:00
Peter Barker
377466ddda Copter: fence no longer requires AP_InertialNav 2017-12-13 10:04:50 +09:00
Peter Barker
d09b0696db Copter: correct checking of heli mode change 
init() may have changed all sorts of things about the
vehicle - wp navigation, position controllers, attitude controllers...

Do the heli check before doing any of that so we don't change state and
then fail to change mode
 2017-12-13 08:49:01 +09:00
Randy Mackay
7504237fbb Copter: rename flight_mode.cpp to mode.cpp 2017-12-12 20:39:48 +09:00
Randy Mackay
99bafb0df1 Copter: rename heli_control_xx to mode_xx_heli 2017-12-12 10:39:26 +09:00
Randy Mackay
2d23e1f7c7 Copter: rename flightmode_ objects to mode_ 2017-12-12 10:39:26 +09:00
Randy Mackay
c3fbf2671c Copter: rename control_xx.cpp files to mode_xx.cpp 2017-12-12 10:39:26 +09:00
Randy Mackay
06fbe8f3a7 Copter: rename FlightMode class to Mode 
also remove unused print_FlightMode method
 2017-12-12 10:39:26 +09:00
Randy Mackay
6e9de7e609 Copter: flight_mode formatting changes 
non-functional change
 2017-12-12 10:39:26 +09:00
Randy Mackay
2e71a641c3 Copter: FlightMode allow_arming format changes 
non-functional change
 2017-12-12 10:39:26 +09:00
Randy Mackay
0ac708b5a0 Copter: remove ability to disable PosHold flight mode 
This flight mode is stable and regularly used so it is unlikely that we ever want to disable it
 2017-12-12 10:39:26 +09:00
Randy Mackay
7494eb2e77 Copter: alphabetise flight mode header file 2017-12-12 10:39:26 +09:00
Randy Mackay
a90979ec8e Copter: remove FlightMode_Avoid_ADSB.h file 2017-12-12 10:39:26 +09:00
Randy Mackay
8870897847 Copter: FlightMode objects use lower case 2017-12-12 10:39:26 +09:00
Randy Mackay
20d7216179 Copter: remove comments 
non-functional change
 2017-12-12 10:39:26 +09:00
Randy Mackay
ac8c2b3f03 Copter: resolve compiler warning from flight-mode declaration 2017-12-12 10:39:26 +09:00
Peter Barker
5d33cf08e1 Copter: eliminate calc_home_distance_and_bearing 
Calling update_simple_mode_bearing calls get-heading
rather than the other way around

This will have the advantage of not calculating home bearing
when we stop calling update_simple_mode_bearing unnecesarily
 2017-12-09 16:26:09 +09:00
khancyr
b44ba29a05 AC_Avoidance: replace AP_InertialNav by AHRS 2017-12-08 11:27:37 +09:00
Peter Barker
103e2cc711 Copter: calculate wp bearing and distance on demand 
Move responsibility for calculating wp bearing/distance
into the FlightMode object doing the navigation

Calculating these variables was being done at 50Hz where they
were used at 10Hz max.
 2017-12-07 07:43:08 +09:00
Peter Barker
4ae2be55aa Copter: fix up autotune namespacing 
This moves static variables into the autotune flightmode object.

It also adjusts namespacing on everything to take advantage of
having everything encapsulated in the AutoTune object
 2017-12-07 07:35:37 +09:00
Peter Barker
7b637334f4 Copter: eliminate mode_has_manual_throttle 2017-12-06 10:09:58 +09:00
Peter Barker
4fd61ed6dc Copter: make exit_mode take FlightMode objects as arguments 2017-12-06 10:09:58 +09:00
Peter Barker
adf4140b9b Copter: fix heli-flags compilation issue 2017-12-06 08:24:24 +09:00
Peter Barker
477ae8f7be Copter: pass heli_flags into flightmode constructor 2017-12-06 08:24:24 +09:00
Peter Barker
83d0a71e10 Copter: FlightMode - simplify flight mode initialization 2017-12-06 08:24:24 +09:00
Peter Barker
0ca5605b8d Copter: FlightMode: remove virtual from many methods 2017-12-06 08:24:24 +09:00
Peter Barker
ef1489e87a Copter: eliminate mode_requires_gps 2017-12-06 08:24:24 +09:00
Peter Barker
a4859e13c1 Copter: eliminate mode_allows_arming 2017-12-06 08:24:24 +09:00
Peter Barker
9c60c1de58 Copter: FlightMode - convert SMARTRTL flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
b0e34bd307 Copter: FlightMode - convert GUIDED_NOGPS flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
cf423ce681 Copter: FlightMode - convert THROW flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
1de99c737e Copter: remove unimplemented heli desired_yaw_rate 2017-12-06 08:24:24 +09:00
Peter Barker
37c706c24e Copter: FlightMode - convert AVOID_ADSB flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
51cd143012 Copter: FlightMode - convert BRAKE flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
cafce01357 Copter: FlightMode - convert POSHOLD flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
67063d6b1e Copter: FlightMode - convert AUTOTUNE flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
018c70d224 Copter: FlightMode - convert FLIP flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
5e3e831152 Copter: FlightMode - convert SPORT flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
6a38664ff4 Copter: FlightMode - convert DRIFT flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
682f3c0e7e Copter: FlightMode - convert RTL flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
3b1ca99b95 Copter: FlightMode - convert LAND flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
2db09ba0f7 Copter: FlightMode - convert GUIDED flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
f2495b2d08 Copter: FlightMode - convert LOITER flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
871ba5630f Copter: FlightMode - convert CIRCLE flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
e2b70c3a0a Copter: FlightMode - convert AUTO flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
a95a35c134 Copter: FlightMode - convert STABILIZE flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
79c06974b7 Copter: FlightMode - convert ALT_HOLD flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
d74f0c72da Copter: FlightMode - convert ACRO flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
527a536b78 Copter: FlightMode - remove function parameters 
Use current control_mode in place of parameters

Once conversion is complete these functions will disappear
 2017-12-06 08:24:24 +09:00
Peter Barker
99a22a263d Copter: a FlightMode base class 2017-12-06 08:24:24 +09:00
Peter Barker
e0233f1dc4 Copter: create a takeoff_state_t type 2017-12-06 08:24:24 +09:00
Peter Barker
b828fa4ffc Copter: Create an ap_t type 2017-12-06 08:24:24 +09:00
Sharvashish Das
395a4ad4ce Copter: add z-axis obj avoidance to guided vel control 
added code to adjust z velocity using avoidance
 2017-12-05 15:58:00 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
2235b22510 Copter: Also report distance and bearing to target in Guided_PosVel mode 2017-12-05 09:17:15 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
ce3197e0ac Copter: use the return code of the guided_set_destination_posvel() function calls 2017-12-05 08:57:55 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
c7a2fcdc37 Copter: Also use fence in Guided_PosVel mode 2017-12-05 08:57:55 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
bd027e4fcb Copter: Move some common functions to AP_Math (NFC) 2017-12-05 08:54:49 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
928bc19cee Copter: Use DEGX100 define instead of hardcoded value (NFC) 2017-12-05 08:54:49 +09:00
khancyr
015d71bacd ArduCopter: remove useless .gitignore from directory 2017-12-04 07:52:25 +09:00
Peter Barker
398d07a68a Copter: tighten return types of mavlink functions and variables 2017-12-01 17:01:10 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas
9773365237 Copter: NFC spell in comments 2017-11-27 23:13:34 +09:00
Randy Mackay
8d2db3218c Copter: minor comment fix to code handling SET_POSITION_TARGET msgs 2017-11-27 14:24:30 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
bde1aaa2f6 Copter: Rename variable to correct the meaning (NFC) 2017-11-27 14:17:21 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
8678d13e7b Copter: Update the result of a MavLink message, this is a NFC 
The result variable is not used, but at least it gets documented :)
 2017-11-27 14:17:21 +09:00
Andrew Tridgell
ef0144751e Copter: allow THROW_NEXTMODE=LOITER 2017-11-27 14:14:06 +09:00
Andrew Tridgell
311d7c11e4 Copter: added LOITER option in THROW_NEXTMODE 2017-11-27 14:14:06 +09:00
Randy Mackay
020e0bfd40 Copter: fix disable ESC calibration for brushed motors 2017-11-27 13:31:21 +09:00
Andrew Tridgell
650a0e06bd Copter: disable ESC calibration for brushed motors 2017-11-27 12:28:40 +09:00
Andrew Tridgell
a644cff921 Copter: support testing multiple motors with motortest 
this matches the quadplane behaviour, allowing a sequence of motors to
be tested
 2017-11-27 10:15:31 +09:00
Randy Mackay
8845b6d5b5 Copter: rename control_safe_rtl.cpp to control_smart_rtl.cpp 
non-functional change
 2017-11-23 20:05:01 +09:00
Randy Mackay
58e5b7f458 Copter: 3.5.4 release notes 2017-11-23 12:17:50 +09:00
Peter Barker
dc99a29dfc ArduCopter: support for units on fields 2017-11-23 10:40:30 +11:00
Randy Mackay
9a03ba1bfb Copter: move barometer_accumulate to sensors.cpp 
non-functional change
 2017-11-22 17:13:14 +09:00
Andrew Tridgell
23b20307af Copter: use cork/push wrapper 2017-11-21 14:10:54 +11:00
Randy Mackay
c5141ad87e Copter: 3.5.4-rc2 release notes 2017-11-17 13:39:20 +09:00
Peter Barker
04c9e966e0 Copter: use AP::PerfInfo library 2017-11-16 15:31:53 +00:00
Peter Barker
5c2f68e8f5 Copter+AP_Scheduler: move perf_info.cpp into Scheduler 2017-11-16 15:31:53 +00:00
Peter Barker
d959e4b42b Copter: AP_Camera uses GPS singleton 2017-11-16 15:28:37 +00:00
Randy Mackay
8d6d09169f Copter: rtl uses labs for alt comparison 2017-11-16 09:59:25 +09:00
murata
acfcd9980d Copter: Modify method name in method header. 2017-11-16 09:26:26 +09:00
Peter Barker
8f48b3187e Copter: use gps singleton for GCS function 2017-11-15 13:43:03 +00:00
ChrisBird
1f1bb61bfa Copter: Add PreArm - PID Parameter check 
This addresses the enhancement requested in: https://github.com/ArduPilot/ardupilot/issues/2424

It checks various PID values to check if they are zero, if they are and the corresponding rate forward feed is zero then it flags it as PreArm failure.
It has been added to the parameter check, so can be overridden if required.
 2017-11-15 21:58:24 +09:00
André Kjellstrup
e7a1ceca4c Copter: Option to trig by distance only when in AUTO mode 2017-11-14 00:10:22 +00:00
ChrisBird
caaeae3d0a Copter: Separate max ascent and descent speeds 
Added equivalent parameters to WPNAV_SPEED_UP and WPNAV_SPEED_DN

New parameters named:
PILOT_SPEED_UP (technically renamed PILOT_VELZ_MAX)
PILOT_SPEED_DN

Removed parameter PILOT_VELZ_MAX (technically renamed to PILOT_SPEED_UP).

Flight Modes impacted:
ALTHOLD
AUTOTUNE
CIRCLE
LOITER
POSHOLD
SPORT
TAKEOFF

Update a section in GUIDED mode but I don't think it is ever used but update just in case.

It will use the PILOT_SPEED_UP for ascending max velocity.  For down it will check if
it is 0, if so then it will PILOT_SPEED_UP instead, if non zero it will use PILOT_SPEED_DN.
This retains current behavior and gives the flexibility to change it if desired.
 2017-11-09 09:03:54 +09:00
Peter Barker
3846da5e23 Copter: remove redundant terrain checks 
Now taken care of by continuous prearm checks
 2017-11-08 19:08:16 +09:00
Peter Barker
d537461934 Copter: remove redundant battery checks 
Now taken care of by continuous prearm checks
 2017-11-08 19:08:14 +09:00
Peter Barker
b3b1680e11 Copter: remove redundant fence checks 
Now checked as part of continuous prearm
 2017-11-08 19:08:12 +09:00
Peter Barker
04af1cb331 Copter: remove redundant baro checks 
Now checked as part of continuous prearm checks
 2017-11-08 19:08:10 +09:00
Peter Barker
b5c907312c Copter: remove redundant gps checks 
Now tested as part of continuous pre-arm checks
 2017-11-08 19:08:08 +09:00
Peter Barker
d563a9dd5d Copter: remove redundant INS checks 
Now checked by continuous prearm checks
 2017-11-08 19:08:06 +09:00
Peter Barker
d3b73f8557 Copter: correct notification of pre-arm-gps-check failure 2017-11-08 19:08:03 +09:00
Peter Barker
818faa92d4 Copter: rc calibration checks are called by AP_Arming 2017-11-08 19:07:59 +09:00
Peter Barker
9b52c9b670 Copter: prearm logging checks are called in parent class 2017-11-08 19:07:55 +09:00
Peter Barker
49dd5f4f80 Copter: prearm board voltage checks are called in parent class 2017-11-08 19:07:53 +09:00
Peter Barker
b8802ec5c2 Copter: prearm gps checks are called in parent class 2017-11-08 19:07:51 +09:00
Peter Barker
7c0869fa19 Copter: prearm ins checks are called in parent class 2017-11-08 19:07:49 +09:00
Peter Barker
cb8fa41cb1 Copter: prearm compass checks are called in parent class 2017-11-08 19:07:46 +09:00
Peter Barker
30c1a040d7 Copter: prearm baro checks are called in parent class 2017-11-08 19:07:44 +09:00
Peter Barker
c129445ff6 Copter: call common prearm checks 2017-11-08 19:07:42 +09:00
Peter Barker
7b3e111f85 Copter: continuously run pre-arm checks 
Stop "latching" the prearm checks, so if the checks start to fail
the craft becomes non-armable.
 2017-11-08 19:02:44 +09:00
Randy Mackay
ef05281dc2 Copter: 3.5.4-rc1 release notes 2017-11-08 12:21:46 +09:00
Peter Barker
ef00978662 Copter: add missing disarm-on-land parameter to rtl_land_run 
Always disarm
 2017-11-06 22:58:16 +00:00
Peter Barker
5b793252ed Copter: stop disarming as part of running rtl as mission item 
Fixed #6324

Note that the land-as-mission-item code is duplicated from the
rtl-as-mode code but omits the disarm part, so doesn't suffer from the
same bug.
 2017-11-06 19:07:28 +00:00
bnsgeyer
6d0cfc13a2 Copter: heli: Update swashplate behavior 
change swashplate behavior on ground in Acro, Stabilize, and AltHold
flight modes. See discussion here:

https://discuss.ardupilot.org/t/tradheli-swashplate-behavior-while-on-the-ground-and-potential-fix-to-issue-5396/22463/18
 2017-10-28 12:31:06 +11:00
Peter Barker
c7216a2740 Copter: call ins periodic function 2017-10-27 16:33:45 +11:00
Randy Mackay
842eed5426 Copter: accept do-winch commands with max rate 2017-10-27 09:20:38 +09:00
Randy Mackay
47bbf49aa6 Copter: fix tuning knob rate control of winch 2017-10-27 09:20:38 +09:00
Randy Mackay
787954fa37 Copter: integrate winch library 
fixes after peer review:
rename winch-disable to winch-relaxed
add DO_WINCH to do-verify
winch release-length accepts rate
 2017-10-27 09:20:38 +09:00
Randy Mackay
2c511b4269 Copter: add AP_Winch and AP_WheelEncoder to build 2017-10-27 09:20:38 +09:00
ChristopherOlson
51c8c1adb2 Copter: TradHeli update comment 
be consistent with dynamic flight speed definition
 2017-10-26 17:15:40 +11:00
ChristopherOlson
572c609cd6 Copter: Trad Heli-change default accel_z_p to 0.30 
prevents collective cycling in altitude controlled modes
 2017-10-26 17:15:40 +11:00
Andrew Tridgell
0d0f1d264b Copter: fixed order of motor setup 2017-10-22 15:52:50 +11:00
Andrew Tridgell
c4b0d7bc35 Copter: removed calls to motors->enable() 2017-10-22 15:52:50 +11:00
Andrew Tridgell
f49ab44f25 Copter: support simple accel calibration 2017-10-10 10:57:38 +11:00
Andrew Tridgell
e2f710523e Copter: added inverted flight to switch docs 2017-10-03 10:16:41 +11:00
Andrew Tridgell
951ed95eb9 Copter: support inverted flight CH7 option 2017-10-03 10:16:41 +11:00
Andrew Tridgell
18f04abfe8 Copter: added HELI_QUAD 2017-10-03 10:16:41 +11:00
Michael du Breuil
516709fc72 Copter: Check GPS health 2017-09-27 19:29:32 +01:00
Lucas De Marchi
beabae6a98 global: use static method to construct AP_AHRS_NavEKF 2017-09-26 03:01:21 +01:00
Lucas De Marchi
c9fbf7b722 global: use static method to construct AP_NavEKF3 2017-09-26 03:01:21 +01:00
Lucas De Marchi
e2fe36357a global: use static method to construct AP_NavEKF2 2017-09-26 03:01:21 +01:00
Lucas De Marchi
6781a44046 global: use static method to construct AP_Avoidance_* 2017-09-26 03:01:21 +01:00
Lucas De Marchi
8f304ed809 ArduCopter: add static create method for AP_Avoidance_* 2017-09-26 03:01:21 +01:00
Lucas De Marchi
6d009cdf6e global: use static method to construct AP_ADSB 2017-09-26 03:01:21 +01:00
Lucas De Marchi
1263e20a0d ArduCopter: use static method to construct AC_InputManager 2017-09-26 03:01:21 +01:00
Lucas De Marchi
e21e02cfdb ArduCopter: use static method to construct AC_PrecLand 2017-09-26 03:01:21 +01:00
Lucas De Marchi
cf6ea9642e global: use static method to construct AP_Terrain 2017-09-26 03:01:21 +01:00
Lucas De Marchi
70d8a08626 ArduCopter: use static method to construct AP_LandingGear 2017-09-26 03:01:21 +01:00
Lucas De Marchi
31db77e47b global: use static method to construct AP_Parachute 2017-09-26 03:01:21 +01:00
Lucas De Marchi
57bbb2e1d9 ArduCopter: use static method to construct AC_Sprayer 2017-09-26 03:01:21 +01:00
Lucas De Marchi
eadd650d78 global: use static method to construct AP_RSSI 2017-09-26 03:01:21 +01:00
Lucas De Marchi
4f42facefc global: use static method to construct AC_Avoid 2017-09-26 03:01:21 +01:00
Lucas De Marchi
b05610870c global: use static method to construct AP_Rally 2017-09-26 03:01:21 +01:00
Lucas De Marchi
b4f5256a9e ArduCopter: add static create method to AP_Rally 2017-09-26 03:01:21 +01:00
Lucas De Marchi
c6eb48009b global: use static method to construct AC_Fence 2017-09-26 03:01:21 +01:00
Lucas De Marchi
18aa88b329 global: use static method to construct AP_Mount 2017-09-26 03:01:21 +01:00
Lucas De Marchi
c3647f0185 global: use static method to construct AP_Camera 2017-09-26 03:01:21 +01:00
Lucas De Marchi
cc53e7bc4b global: use static method to construct AP_ServoRelayEvents 2017-09-26 03:01:21 +01:00
Lucas De Marchi
13d7f58036 global: use static method to construct AP_Relay 2017-09-26 03:01:21 +01:00
Lucas De Marchi
9ce6019138 global: use static method to construct AP_Frsky_Telem 2017-09-26 03:01:21 +01:00
Lucas De Marchi
b022c02029 global: use static method to construct AP_BattMonitor 2017-09-26 03:01:21 +01:00
Lucas De Marchi
69b6d95cb2 global: use static method to construct AP_Board_Config{,_CAN} 2017-09-26 03:01:21 +01:00
Lucas De Marchi
a74e700006 global: use static method to construct RCMapper 2017-09-26 03:01:21 +01:00
Lucas De Marchi
72fd2d6f05 global: use static method to construct AP_SerialManager 2017-09-26 03:01:21 +01:00
Lucas De Marchi
fbe0d9761c global: use static method to construct AP_OpticalFlow 2017-09-26 03:01:21 +01:00
Lucas De Marchi
10529feae6 ArduCopter: use static method to construct AP_Arming_Copter 2017-09-26 03:01:21 +01:00
Lucas De Marchi
b36a5919f5 global: use static method to construct AP_Mission 
This also move the initialization to be in the header for those that
weren't already to maintain consistency.
 2017-09-26 03:01:21 +01:00
Lucas De Marchi
de5e044b02 global: use static method to construct AP_RPM 2017-09-26 03:01:21 +01:00
Lucas De Marchi
40fd1b346c global: remove rangefinder from AP_AHRS_NavEKF 
AP_AHRS_NavEKF doesn't use the rangefinder, it just delegates the
calls to the right estimator.

For libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp the initialization
order has also been modified to match the order on vehicles. It's more
correct since it passes a reference when EKF2/EKF3 are already
constructed, while thos constructors use a pointer.  Ideally these
should be moved to an init() method though, or use a get_instance().
 2017-09-26 03:01:21 +01:00
Lucas De Marchi
9027a55696 global: use static method to construct RangeFinder 2017-09-26 03:01:21 +01:00
Lucas De Marchi
f5c2ffffb9 global: remove DataFlash from AP_Mount::init() 2017-09-26 03:01:21 +01:00
Lucas De Marchi
53c82b4aaf global: use static method to construct DataFlash_Class 2017-09-26 03:01:21 +01:00
Lucas De Marchi
62ac0ab8aa global: use static method to construct AP_Notify 2017-09-26 03:01:21 +01:00
Lucas De Marchi
de680dac5b global: use static method to construct AP_Scheduler 2017-09-26 03:01:21 +01:00
Lucas De Marchi
8094482f21 global: use static method to construct AP_GPS 2017-09-26 03:01:21 +01:00
Lucas De Marchi
87b30b4552 global: use static method to construct AP_InertialSensor 2017-09-26 03:01:21 +01:00
Lucas De Marchi
c1a957fbf3 global: use static method to construct Compass 2017-09-26 03:01:21 +01:00
Lucas De Marchi
91feec0e14 global: use static method to construct AP_Baro 2017-09-26 03:01:21 +01:00
Lucas De Marchi
d213ccbbfc ArduCopter: protect version.h from inclusion and use ap_version.h 2017-09-23 21:37:45 -07:00
Lucas De Marchi
4ef5186733 ArduCopter: do not include version.h/ap_version.h 
The interface provided by each vehicle should be used to get the
version.
 2017-09-23 21:37:45 -07:00
Lucas De Marchi
cd5b018d82 ArduCopter: move version to a static member 
We should never include version.h or ap_version.h headers directly
on a header since this will trigger a complete rebuild of the
codebase when we commit to the repository. The ap_version.h header
is auto-generated containing information from the current commit.

If we include it in a header, every other file that ends up including
that header (directly or indirectly) will need to be rebuilt. No
ccache's cache beats having to do nothing when the header is just
not included.

version.h contains information that is kept on a struct inside
each vehicle. Rather than using the macros from each vehicle,
the getter should be preferred, which returns an AP_FWVersion
referente.
 2017-09-23 21:37:45 -07:00
Randy Mackay
a9f257ddc6 Copter: 3.5.3 release notes 2017-09-21 11:13:02 +09:00
Andrew Tridgell
22bfec4d2a Copter: fixed motor runup check for heli 
for all auto-throttle modes we should not allow a mode change to the
mode if the motor runup is not complete.

This moves the code to the set_mode() so it applies to all modes

fixes issue #6956
 2017-09-21 08:52:50 +10:00
Andrew Tridgell
8cf8f3a288 Copter: fixed collective input with H_SV_MAN=1 for heli 
when H_SV_MAN=1 we do direct pass-thru so the user can test swash
range. The problem is that it uses norm_input() for throttle, which
depends on RC3_TRIM. Nowhere else in heli or copter do we depend on
RC3_TRIM, so the user gets a misleading idea of behaviour when testing
their swash.
 2017-09-21 08:52:50 +10:00
Randy Mackay
a8a5c1d332 Copter: command-long DO_SET_HOME check first param is zero 
Also do not use current location just because lat,lon,alt are all zero
 2017-09-20 12:14:38 +09:00
Randy Mackay
d982cfed4a Copter: accept DO_SET_HOME within COMMAND_INT 2017-09-20 12:14:38 +09:00
Randy Mackay
70cf21a5ba Copter: accept more mav-frame types 
accept mav frames whether or not they have _INT appended
 2017-09-20 12:14:38 +09:00
Peter Barker
45d056fcf0 Copter: ekf position checks are done before we call failsafe_ekf_event 2017-09-19 12:44:43 +01:00
Peter Barker
d5caff3f1b Copter: do not enter ekf-failsafe based on position if pos not needed 2017-09-19 12:44:43 +01:00
Peter Barker
ff82f23cf6 Copter: factor out a ekf_check_position_problem method 2017-09-19 12:44:43 +01:00
Peter Barker
84a873a520 Copter: remove redundant check; we will never failsafe_ekf_event if disarmed 
See line 37
 2017-09-19 12:44:43 +01:00
Peter Barker
0afe1e7473 Copter: move handling of SET_GPS_GLOBAL_ORIGIN up 2017-09-19 15:44:23 +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
Randy Mackay
44a436642b Copter: complete rename to SmartRTL 
Also fix parameter description for CH7_OPT
 2017-09-15 08:58:14 +09:00
Michael du Breuil
ffc2aeee32 Copter: Support landing flight termination 2017-09-13 13:15:08 -07:00
Peter Barker
6b5fd5fbdd Copter: move gcs_out_of_time into GCS object 2017-09-12 18:28:07 +01:00
Randy Mackay
b1d1b5122b Copter: 3.5.3-rc1 release notes 2017-09-12 16:43:15 +09:00
squilter
4b57a4a231 Copter: rename SafeRTL to SmartRTL 2017-09-09 14:05:41 +09:00
squilter
7abb5b10fc Copter: build scripts changed from SafeRTL to SmartRTL 2017-09-09 14:05:41 +09:00
Randy Mackay
ed0203e53c Copter: smooth safertl return journey using fast waypoints 2017-09-09 14:05:41 +09:00
Randy Mackay
6684e3de56 Copter: minor comment change for SafeRTL 2017-09-09 14:05:41 +09:00
Randy Mackay
8df042f00c Copter: complete addition of SafeRTL flight mode 2017-09-09 14:05:41 +09:00
Randy Mackay
218983d594 Copter: safe-rtl changes after peer review 2017-09-09 14:05:41 +09:00
squilter
ba0e08552f Copter: add SafeRTL flight mode 2017-09-09 14:05:41 +09:00
squilter
ec8c4b1744 Copter: add AP_SafeRTL to build 2017-09-09 14:05:41 +09:00
Peter Barker
3f67dfe4fe Copter: move handling of do_send_banner up 2017-08-30 15:54:47 +01:00
Peter Barker
3da70f19c1 Copter: handle param_request_list in GCS_MAVLINK base class 2017-08-30 15:54:47 +01:00
Peter Barker
e6ac68fd2a Copter: handle param_set in GCS_MAVLINK base class 2017-08-30 15:54:47 +01:00
Peter Barker
bb06db6389 Copter: move send_autopilot_request calls up to GCS base class 2017-08-30 15:54:46 +01:00
Peter Barker
470e790117 Copter: add constant structure holding firmware version 2017-08-30 15:54:46 +01:00
squilter
00ace08b54 Copter: minor formatting fixes 2017-08-30 20:07:11 +09:00
Peter Barker
30fac9160e Copter: mavlink PERF messages also spit out average and standard deviation 2017-08-29 21:31:46 +01:00
Peter Barker
89e6e70235 Copter: remove MAIN_LOOP_RATE in favour of parameter value 2017-08-29 08:41:07 +09:00
Peter Barker
02a590024d Copter: base loop time remaining on variable loop rate 2017-08-26 09:33:45 +09:00
Peter Barker
0b6de644fb Copter: add ArduSub to list of SYSID_SW_TYPE 2017-08-24 19:50:38 +09:00
Peter Barker
5103739ea3 Copter: remove unused CH6 defines 2017-08-24 19:48:17 +09:00
Lucas De Marchi
be402374ea ArduCopter: use FALLTHROUGH define 
When falling through on a case switch, allow to add an empty statement
with the correct attribute to tell the compiler this behavior is
intended.
 2017-08-22 23:59:13 -07:00
Randy Mackay
34560fb1fb Copter: remove enabled check from optflow init 2017-08-23 11:19:14 +09:00
Randy Mackay
def17582c6 Copter: integrate simpler Log_Write_EKF 2017-08-23 11:19:14 +09:00
Peter Barker
b0c7766197 Copter: continuously reevaluate rc calibration checks 
Stop "latching" calibration checks - if an RC radio's calibration
changes after it passes once, these patches allow the rc calibraiton
checks to then fail.
 2017-08-21 09:05:31 +09:00
Peter Barker
19e409f7f4 Copter: move serial_control case to base class 2017-08-17 12:42:31 +01:00
Peter Barker
6db348bab3 Copter: move play_tune and led_control handling to base class 2017-08-17 12:27:10 +01:00
Peter Barker
aa06fc499c Copter: use GCS_MAVLINK subclasses to handle set_mode 2017-08-16 11:58:10 +10:00
Michael du Breuil
5cfe4d5a8c Copter: Expose the AFS instance to MAVLink 2017-08-15 15:14:56 +01:00
Peter Barker
0a2177de58 Copter: move Copter RC checking code into library 2017-08-14 15:32:25 +09:00
Randy Mackay
14f6d3e03e Copter: 3.5.2 release notes 2017-08-14 12:12:01 +09:00
Peter Barker
c6b9c84d1f Copter: remove CLI 2017-08-14 10:23:50 +09:00
Peter Barker
fa2b500e93 Rover: remove CLI 2017-08-14 10:23:50 +09:00
Peter Barker
55af774e98 Copter: send gps messages as separate queued messages 2017-08-09 16:18:22 +01:00
Peter Barker
56160a8bbd Copter: move sending of gps_raw up 2017-08-09 16:18:22 +01:00
Peter Barker
ff81186951 Copter: move sending of system_time up 2017-08-09 16:18:22 +01:00
Peter Barker
7ca146878d Copter: move sending of camera_feedback up 2017-08-09 16:18:22 +01:00
Peter Barker
da889bdff5 Copter: move sending of meminfo up 2017-08-09 16:18:22 +01:00
Jani Hirvinen
bdbe26eb28 Copter: minor comment fix 
small edit on comments to kickoff autobuild
 2017-08-09 20:14:22 +09:00
Peter Barker
c36a20ab54 Copter: use new retry_deferred method 2017-08-05 23:14:31 +01:00
Randy Mackay
4368df7f11 Copter: 3.5.2-rc2 release notes 2017-08-05 16:46:42 +09:00
Randy Mackay
8dadbaa850 Copter: landing gear init on startup 2017-08-05 11:20:41 +09:00
Randy Mackay
c3fd354452 Copter: enable landing gear based on RC output 
previously it was enabled based on the transmitter's auxiliary switch
being setup
 2017-08-05 11:20:41 +09:00
Randy Mackay
5b8e7cfdf9 Copter: landinggear_update formatting change 
no functional change
 2017-08-05 11:20:41 +09:00
Peter Barker
db080ed60e Copter: stop sending MSG_SERVO_OUT messages 
This didn't ever result in a message being sent on Copter
 2017-08-03 14:34:33 +01:00
Peter Barker
7c37bb324b Copter: move try_send_message queued_param_send up 2017-08-03 14:34:33 +01:00
Peter Barker
431e3443bd Copter: move try_send_message send_hwstatus up 2017-08-03 14:33:37 +01:00
Peter Barker
3e5665735f Copter: move try_send_message mission handling up 2017-08-03 14:24:47 +01:00
Peter Barker
2a62b57e11 Copter: move try_send_message compass message handling up 2017-08-03 14:24:46 +01:00
Peter Barker
4b63443633 Copter: correct misleading comment 2017-08-03 14:24:46 +01:00
Peter Barker
31b33b2232 Copter: base SYS_STATUS load average on variable loop rate 2017-08-01 19:39:27 +01:00
squilter
f7a00b911e Copter: minor format fix for motors.cpp 2017-07-31 17:27:15 +09:00
Randy Mackay
167ced1279 Copter: battery arming checks call parent AP_Arming 2017-07-31 17:19:55 +09:00
Randy Mackay
9cbab6ed4b Copter 3.5.1 release notes 2017-07-31 11:49:12 +09:00
Peter Barker
f56c9bd96d Copter: move common mavlink camera handling up 2017-07-28 14:32:58 +01:00
Peter Barker
cdf9ebcb39 Copter: camera is responsible for taking distance-based-images and logging 2017-07-28 14:27:53 +01:00
Peter Barker
192310a68e Copter: move gps inject handling up to GCS_MAVLINK 2017-07-27 12:03:25 +01:00
Randy Mackay
f97e43919b Copter: add gps glitch notification and pre-arm check 2017-07-27 14:16:23 +09:00
Randy Mackay
52bf93dd80 Copter: 3.5.1-rc1 release notes 2017-07-27 12:25:22 +09:00
Peter Barker
f1ab50d4ea Copter: handle common GPS messages in base GCS_MAVLINK class 2017-07-25 14:00:45 +01:00
khancyr
88aa1e447a Copter: adapt to new send_proximity API 2017-07-24 13:44:43 +01:00
khancyr
0710018a42 Copter: move proximity log to DataFlash (NFC) 2017-07-24 13:44:43 +01:00
khancyr
49755063ab Copter: move send_proximity to GCS common code (NFC) 2017-07-24 13:44:43 +01:00
khancyr
743d9ec65f Copter: report polygon fence breach 2017-07-21 09:47:00 +09:00
Peter Barker
89478d5a28 Copter: ensure logging is working as part of arming checks 2017-07-19 16:37:28 +01:00
Peter Barker
e45efeb829 Copter: move starting of new logs into DataFlash 2017-07-19 16:37:28 +01:00
Peter Barker
cbde87b390 Copter: remove pointless pre_arm_gps_checks function 2017-07-19 16:34:57 +01:00
Peter Barker
baaad8df94 Copter: use common board_voltage_checks code 2017-07-19 16:34:57 +01:00
Peter Barker
a7bc111485 Copter: use common baro arming check function 2017-07-19 16:34:57 +01:00
Peter Barker
eb0edc9b5b Copter: remove MSG_STATUSTEXT entirely 2017-07-18 16:12:59 +01:00
Peter Barker
ad1c379445 Copter: move handling of PREFLIGHT_SET_SENSOR_OFFSETS up 2017-07-17 14:17:19 +01:00
Peter Barker
fe16691c6e Copter: move handling of MAG_CAL command longs up 2017-07-17 14:17:19 +01:00
Peter Barker
ecda9116ba Copter: move MAV_CMD_START_RX_PAIR handling to base class 2017-07-17 14:17:19 +01:00
Randy Mackay
73d994a834 Copter: update 3.5.0 release notes 2017-07-17 11:15:05 +09:00
Peter Barker
7042d3e9c9 Global: all vehicles get AP_Relay and AP_ServoRelayEvent libraries 2017-07-17 00:06:31 +01:00
Peter Barker
b14964eb1e Copter: move mavlink support for servo/relay up 2017-07-16 23:56:00 +01:00
Peter Barker
3e3a8717c5 Copter: add common handling of mavlink command messages 2017-07-16 23:56:00 +01:00
Michael du Breuil
a81bfe644a Copter: Document max loop time as being in microseconds 2017-07-15 17:27:04 +09:00
Peter Barker
480a83fdef Copter: move rally-point handling up 2017-07-14 01:28:05 +01:00
Peter Barker
7bb28175d7 Copter: remove unneeded telemetry_delayed parameter 2017-07-12 17:01:36 +01:00
Peter Barker
016eeaa258 Copter: move handling of incoming statutext messages up 2017-07-12 16:52:24 +01:00
Randy Mackay
260412bf0f Copter: 3.5.0-rc11 release notes 2017-07-12 13:56:01 +09:00
Randy Mackay
c1433e0220 Copter: minor comment and formatting fixes 
no functional change
 2017-07-12 13:27:45 +09:00
Randy Mackay
ed65d55f5e Copter: guided stops rotating if no updates received for 3 seconds 2017-07-12 13:27:45 +09:00
Randy Mackay
2b98fd765d Copter: guided_set_destination accepts relative yaw 2017-07-12 13:27:45 +09:00
Randy Mackay
4c9e118ceb Copter: set_auto_yaw_look_at_heading takes bool for relative angle arg 
No functional change
 2017-07-12 13:27:45 +09:00
Randy Mackay
9b05f1d9c7 Copter: add auto-yaw-rate and replace guided_angle_state.use_yaw_rate 
We use the auto_yaw_mode in auto and guided modes to allow various yaw behaviours
This commit adds a new AUTO_YAW_RATE control to the mode and uses it within guided mode.
This new RATE control is not currently used within auto mode because there is no way (yet) for a mission command to specify a desired rate.
 2017-07-12 13:27:45 +09:00
kouseii
4dd7d9eaff Copter: guided mode supports heading and yaw-rate target 2017-07-12 13:27:45 +09:00
Peter Barker
8a1fc6a406 Copter: remove global static send_statustext_chan 2017-07-11 23:53:53 +01:00
Peter Barker
592729733e Copter: eliminate GCS_MAVLINK::send_statustext_all 2017-07-11 23:53:53 +01:00
Peter Barker
a4d167affe Copter: eliminate global static GCS_MAVLINK::send_home_all 2017-07-11 23:48:39 +01:00
Peter Barker
3660236a0d Copter: move common mission handling up to GCS_MAVLINK 2017-07-11 23:45:16 +01:00
Peter Barker
358555446b Copter: eliminate gcs_send_mission_item_reached wrapper 2017-07-11 23:45:16 +01:00
Peter Barker
0ac045febe Copter: eliminate gcs_send_message wrapper 2017-07-11 23:45:16 +01:00
Andrew Tridgell
7473471f38 Copter: reverse IDs in g2 for TCAL and tx_type 
as discussed with Randy
 2017-07-10 17:07:57 +10:00
Tom Pittenger
25b014524a Copter: use send_text method on the GCS singleton 2017-07-09 19:03:26 -04:00
Peter Barker
f60389d4aa Copter: use send_text method on the GCS singleton 2017-07-09 17:17:29 -04:00
Peter Barker
037cd2e9c6 ArduCopter: use Notify singleton for sending statustext 2017-07-09 17:17:29 -04:00
Randy Mackay
a6fbae16bf Copter: 3.5.0-rc10 release notes 2017-07-08 10:51:23 +09:00
Randy Mackay
2e56e10d9c Copter: ekf check adds position variance check 
two of three of compass, velocity and position variances being high will trigger the ekf failsafe
 2017-07-08 08:39:43 +09:00
Peter Barker
d9b45cc202 Copter: create GCS subclass, use inheritted methods 2017-07-07 16:18:37 +01:00
Peter Barker
2d11544ea8 Copter: remove redundant arming check defines 2017-07-06 11:55:12 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
9994e9b773 Copter: improve stream descriptions (NFC) 2017-07-04 08:12:57 +09:00
Eugene Shamaev
24c390ade0 ArduCopter: move of CAN parameters into separate group 2017-07-03 11:44:32 +01:00
Randy Mackay
c75f30eb9b Copter: 3.5.0-rc9 release notes 2017-07-03 14:42:26 +09:00
Randy Mackay
41752eef8b Copter:default RC_FEEL to 50 2017-07-03 09:34:07 +09:00
Peter Barker
37abc1b02f Copter: check dataflash to see if we should log backend gps messages 2017-06-29 15:43:38 +01:00
Peter Barker
776d691c79 Copter: use DataFlash should_log to determine raw logging 2017-06-29 15:26:27 +01:00
Peter Barker
cfbde937c6 Copter: move should_log check of log bitmask into DataFlash 2017-06-29 15:26:27 +01:00
Peter Barker
8b57405143 Copter: handle knowledge of in_log_download in DataFlash 2017-06-27 03:10:43 +01:00