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7442 Commits

Author SHA1 Message Date
Andrew Tridgell 8d187f4bc6 Copter: support two full harmonic notch filters 2022-04-19 09:39:03 +10:00
Andrew Tridgell 47e95c2a88 Copter: param conversion for INS_NOTCH to INS_HNTC2 2022-04-16 08:14:06 +10:00
Bill Geyer 836ae87955 Copter: properly set feedforward enabled before exit 2022-04-14 07:49:38 +09:00
Peter Barker 39eca59938 ArduCopter: move logging of Beacon into Beacon library 2022-04-13 16:22:19 +10:00
Peter Barker de2182b88f ArduCopter: move logging of Proximity into Proximity library 2022-04-13 16:22:19 +10:00
Randy Mackay da21c47f43 Copter: 4.2.0-rc1 release notes 2022-04-09 20:39:02 +09:00
Peter Barker 32cfe70a44 ArduCopter: stop libraries including AP_Logger.h in .h files 
AP_Logger.h is a nexus of includes; while this is being improved over
time, there's no reason for the library headers to include AP_Logger.h
as the logger itself is access by singleton and the structures are in
LogStructure.h

This necessitated moving The PID_Info structure out of AP_Logger's
namespace.  This cleans up a pretty nasty bit - that structure is
definitely not simply used for logging, but also used to pass pid
information around to controllers!

There are a lot of patches in here because AP_Logger.h, acting as a
nexus, was providing transitive header file inclusion in many (some
unlikely!) places.
 2022-04-08 19:18:38 +10:00
Peter Barker 5539b55c01 Copter: factor failsafe reporting 2022-04-06 10:40:09 +10:00
Randy Mackay 2f03e2a75f Copter: 4.2.0-beta3 release notes 2022-03-30 19:55:45 +09:00
Bill Geyer 26297069d3 Copter: make systemid use new chirp math function 2022-03-29 08:05:41 +09:00
Randy Mackay f1c072bcd2 Copter: auto mode sets submode after all possible failures are passed 2022-03-24 19:24:25 +09:00
Randy Mackay f6166906e0 Copter: guided mode takeoff failure leaves submode unchanged 2022-03-24 19:24:25 +09:00
Leonard Hall 0591d760ea Copter: Clarify calculations in get_pilot_desired_lean_angles 2022-03-24 13:46:52 +09:00
Peter Barker df6efc37ac ArduCopter: split AP_HAL_SITL and AP_SIM_ENABLED 2022-03-17 14:39:55 +11:00
murata 08a1ad3c39 Copter: Change from division to multiplication 2022-03-16 18:41:52 +11:00
Randy Mackay f345ab1581 Copter: 4.2.0-beta2 release notes 2022-03-12 08:07:52 +09:00
Randy Mackay 553ad877f6 Copter: fix takeoff to terrain alt 2022-03-11 18:12:27 +09:00
Randy Mackay 759e2b1b55 Copter: rename auto_take_off_xx to auto_takeoff_xx 2022-03-11 18:12:27 +09:00
murata 77d898c951 Copter: Change the process for errors 2022-03-08 14:36:19 -08:00
murata,katsutoshi 8037eaf4cf Update ArduCopter/GCS_Mavlink.cpp 
Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>
 2022-03-08 14:36:19 -08:00
murata 926558a808 Copter: Change the process for errors 2022-03-08 14:36:19 -08:00
RuffaloVM 0ce3f91f63 ArduCopter : case label indentation 2022-03-08 14:24:46 -08:00
m f0e1b3eb9f Copter: Pause/Continue in AUTO and GUIDED modes with SCurves 2022-03-08 13:12:36 +09:00
Leonard Hall 670af8d469 Copter: Add pause in guided mode 2022-03-08 13:12:36 +09:00
Leonard Hall 18696e923e Copter: WP Pause support 2022-03-08 13:12:36 +09:00
Leonard Hall cf5565f17c Copter: tighten auto_takeoff_complete checks 2022-03-07 16:14:23 +09:00
Leonard Hall 93cff95448 Copter: remove loiter_nav from auto 2022-03-07 16:14:23 +09:00
Leonard Hall fb6c3ebb72 Copter: auto and guided takeoff use postion controller 2022-03-07 16:14:23 +09:00
Leonard Hall b5a4f24559 Copter: use position controller for landing reposition 2022-03-07 16:14:23 +09:00
Andy Piper 11a5c8d2a4 Copter: nuke clang warnings 2022-03-03 16:34:14 +11:00
Randy Mackay 0b29d0243d Copter: version to 4.3.0-dev 2022-03-02 09:57:14 +09:00
Shiv Tyagi 7765399e49 Copter: change circle_nav.set_radius to circle_nav.set_radius_cm 2022-03-01 09:31:10 +09:00
Peter Barker bfb8e7df81 ArduCopter: include cleanups 2022-03-01 11:21:33 +11:00
Peter Barker c80cd1daa5 ArduCopter: add RebootRequred to stream rate parameters 2022-03-01 11:01:12 +11:00
Iampete1 96c47dadcb Copter: motor_test: use PWM min and max from RC_Channel 2022-03-01 10:47:25 +11:00
Randy Mackay 0846a950bb Copter: 4.2.0-rc1 release notes 2022-02-28 11:43:37 +09:00
Randy Mackay df5c3acdfe Copter: fix nav_script_time timeout 2022-02-24 10:00:42 +09:00
Bill Geyer 2fa54f0df4 Copter: start engine flag not used and style cleanup 2022-02-23 14:22:47 +09:00
Ferruccio1984 84bf3fb74e Copter: Tradheli support for turbine start 2022-02-23 14:22:47 +09:00
Randy Mackay 1251a91430 Copter: add nav_script_time mission command support 2022-02-22 12:32:56 +09:00
Randy Mackay d416a7143e Copter: 4.1.5 release notes 2022-02-19 14:10:06 +09:00
Iampete1 23ea84bf32 copter: fix condition yaw early completion 2022-02-16 19:33:38 +09:00
Bill Geyer b1d1dc97ff Copter: set new parameter defaults for tradheli 2022-02-15 13:42:09 -05:00
Randy Mackay 0941c741c8 Copter: disable sport mode 2022-02-11 16:11:39 +09:00
Tatsuya Yamaguchi a40e020813 Copter: fix the defined value for parachute check 2022-02-11 12:42:51 +11:00
Randy Mackay d2dbb4dd31 Copter: 4.1.5-rc1 release notes 2022-02-11 08:30:37 +09:00
Peter Barker 019d45524f ArduCopter: send deprecated message warning for MAVLINK_MSG_ID_SET_HOME_POSITION 2022-02-10 12:13:43 +11:00
Iampete1 95b8630a09 Copter: motor test: check E-stop 2022-02-10 07:43:40 +09:00
Iampete1 704f39a0cc Copter: always keep motors interlock state current 2022-02-10 07:43:40 +09:00
Iampete1 b235116262 Copter: mode_turtle: check motors armed and interlocked 2022-02-10 07:43:40 +09:00
Iampete1 4014ec055f Copter: don't disable e-stop if there is no swtich 2022-02-10 07:43:40 +09:00
Peter Barker 7fd3402e88 ArduCopter: create and use location_from_command_t 2022-02-09 09:15:11 +11:00
Randy Mackay 364051b518 Copter: 4.1.4 release notes 2022-02-08 12:07:58 +09:00
Bill Geyer 99fd0cb3e6 Copter: reset integrators when landed in auto modes in any spool state 2022-02-08 09:48:18 +09:00
Peter Barker 3989ed76cd ArduCopter: stop passing mission in Terrain constructor 
Terrain can use the mission singleton

This means Copter can have terrain while compiling mission out
 2022-02-08 11:20:20 +11:00
Peter Barker 75db4d2d98 ArduCopter: move logging of LogEvent::SET_HOME up 2022-02-08 11:04:26 +11:00
Peter Barker 4f2cf9ffa2 ArduCopter: provide default implemenation of handle_change_alt_request 
The TODO items to actually implement these are almost 6 years old.
Since then these methods have been burning space.

This doesn't even make sense for several vehicles, so a default
implementation which does nothing seems OK.
 2022-02-08 10:59:13 +11:00
Joshua Henderson 3a05cf2c7a Copter: add send_attitude_target 2022-02-07 08:24:35 +09:00
Leonard Hall 7369d18abf Copter: Force Flying check for Heli 2022-02-04 09:10:57 +09:00
Leonard Hall 23711b7b10 Copter: Add support for Force Flying 2022-02-04 09:10:57 +09:00
Bill Geyer cd64216558 Copter: remove AUTOTUNE Enable definition 2022-02-01 23:06:51 -05:00
Bill Geyer 54bdde8845 Copter: fix parameter issue with quadplane 2022-02-01 23:06:51 -05:00
Bill Geyer 33049e7f2d Copter: fix build error 2022-02-01 23:06:51 -05:00
bnsgeyer a9450ac9b6 Copter: making autotune work for heli too 2022-02-01 23:06:51 -05:00
Iampete1 3189bd7c0d Copter: AutoYaw: use get_slew_yaw_max_degs in place of get_slew_yaw_cds 2022-02-01 08:19:35 +09:00
Randy Mackay 047128a038 Copter: 4.1.4-rc1 release notes 2022-01-31 19:45:16 +09:00
Tatsuya Yamaguchi 6443bdcb2d Copter: change variable type from float to int32_t 2022-01-31 16:09:54 +09:00
Rishabh 48124c1c4b Copter: Use new control methods for prec loiter 2022-01-31 14:38:29 +09:00
Rishabh 309dfa63f3 Copter: Switch PrecLand to use updated Pos Controller 2022-01-31 14:38:29 +09:00
Peter Barker ee46b876cb Copter: fix compilation when ModeAuto is disabled 2022-01-29 08:24:27 +09:00
Iampete1 f4c7760819 Copter: add flight option to relase gripper on thrust loss 2022-01-28 08:59:47 +09:00
Tatsuya Yamaguchi 3045451769 Copter: fix sanity checks for takeoff altitude 2022-01-27 09:23:43 +09:00
Shiv Tyagi c1dafae84a Copter: separate logging for position and attitude targets in guided mode 
We now log position and attitude targets in guided mode separately. Earlier we were using same messages for both which was causing some confusion in field names
 2022-01-26 21:36:48 +09:00
Randy Mackay 2c2f345c84 Copter: improve PILOT_SPEED_DN param description 
Also allow 0 to be a valid value
 2022-01-26 08:35:58 +09:00
Peter Barker 35506d0681 ArduCopter: move logging of SIMSTATE, AHRS2 and POS into AP_AHRS library 2022-01-25 10:59:17 +11:00
Peter Barker d1acc5df31 ArduCopter: rename AP_AHRS::get_position to get_location 2022-01-25 10:47:22 +11:00
Joshua Henderson b917a71431 ArduCopter: add Airspeed support 2022-01-19 18:21:32 +11:00
Josh Henderson ea58c130b4 Copter: move Airspeed to AP_Vehicle 2022-01-19 18:21:32 +11:00
Joshua Henderson 1ad9e86d98 Copter: set_attitude_target do not accept ill-defined quaternion 2022-01-19 18:03:17 +11:00
Leonard Hall f9a4c86ad6 Copter: Guided add rate logging 2022-01-19 18:03:17 +11:00
Leonard Hall fd8c180f57 Copter: Support MAVLINK_MSG_ID_SET_ATTITUDE_TARGET 2022-01-19 18:03:17 +11:00
Iampete1 b6806ada27 Copter: move motbatt logging to motors 2022-01-18 10:18:10 +11:00
Peter Barker b4ff6ddfb7 ArduCopter: move RPM sensor logging into AP_RPM 2022-01-11 11:09:26 +11:00
Randy Mackay d5461f2225 Copter: integrate AP_Mission_ChangeDetector 2022-01-10 08:19:16 +09:00
Iampete1 9c52752e16 Copter: add logging bit to log video stab in fast loop 2022-01-05 19:56:03 +11:00
Peter Barker f65a96e786 ArduCopter: move INS notch filter logging into INS 2022-01-05 16:34:36 +11:00
Peter Barker 8b2bc89cf6 ArduCopter: make vehicles write notch log messages 2022-01-05 16:34:36 +11:00
Peter Barker 709679ed60 Copter: compassmot: use is_positive for float comparison 
tridge noted on the DevCall that very, very small numbers could yield
numerical errors during divisions further down
 2022-01-05 10:46:14 +11:00
Peter Barker 6bfcf2fb53 Copter: remove pointless wrapper around proximity init 2022-01-04 09:02:54 +09:00
Leonard Hall b4ec303d74 Copter: Guided: When yaw is not specified use default yaw behaviour. 2022-01-04 08:52:31 +09:00
Peter Barker 9f17cd62a2 Copter: avoid division by zero in compass/motor interference calibration 2022-01-04 08:38:25 +09:00
Randy Mackay 0c93aa0cc6 Copter: 4.1.3 release notes 2021-12-31 14:12:54 +09:00
Peter Barker 285d752143 ArduCopter: create and use AP_OPTICALFLOW_ENABLED 
Including a define for each backend.
 2021-12-29 18:12:03 +11:00
Peter Barker 70dcad26f7 ArduCopter: adjust for rename of OpticalFlow.cpp 2021-12-28 10:16:20 +11:00
Leonard Hall 8c7414e932 Copter: Constrain vertical speed in loiter_to_alt_run 2021-12-23 11:21:40 +09:00
Andy Piper e1c75b2c15 Copter: use calculated number of notches for dynamic harmonic 2021-12-22 18:13:38 +11:00
Randy Mackay 541fae5d4f Copter: 4.1.3-rc2 release notes 2021-12-22 11:02:33 +09:00
Peter Barker 9b2e9d2e2c ArduCopter: tidy log message id definitions 
Add a comment indicating only 20 ids are available to the vehicle
 2021-12-21 10:42:18 +11:00
Randy Mackay 93487c1c93 Copter: 4.1.3-rc1 release notes 2021-12-20 09:28:00 +09:00
Gone4Dirt 320f7477a5 Copter: Make RPM log independant of RC log mask 2021-12-16 12:48:48 +11:00
Peter Barker 08b9897bad Copter: use @CopyValuesFrom for FLTMODEn parameters 2021-12-16 07:11:33 +11:00
Bill Geyer a89d8cf9fc Copter: remove setting of rotor rpm in heli.cpp 2021-12-14 22:50:05 -05:00
MidwestAire fb6db5e564 Copter:Heli - changes for new Heli_RSC control modes 
move rpm out of case switch so it updates outside of autothrottle_run()
 2021-12-14 22:50:05 -05:00
Shiv Tyagi 8b526526c2 Copter: remove pilot_throttle_checks() 
This method is redundant as throttle below FS_THR_THROTTLE value is already checked in set_throttle_and_failsafe() method.
 2021-12-15 12:02:51 +09:00
Josh Henderson 01583e96fa ArduCopter: guided force_set restriction only for accel commands 2021-12-14 09:04:16 +09:00
Randy Mackay 674a9ce113 Copter: 4.1.2 release notes 2021-12-07 20:11:26 +09:00
Andrew Tridgell ec4779599c ArduCopter: revert compass parameter changes 2021-12-04 16:51:53 +11:00
Miloš Petrašinović 063e24c723 Copter: fix userhook aux switches 
Functions userhook_auxSwitch1, userhook_auxSwitch2, and userhook_auxSwitch3 had the wrong argument type resulting in a compilation error.
 2021-12-01 07:44:25 +09:00
Iampete1 7de18183c9 Copter: remove compass params underscore 2021-11-30 08:14:43 +09:00
Josh Henderson 3107c42fca Copter: INAV rename for neu & cm/cms 2021-11-30 10:08:07 +11:00
Josh Henderson 6b871fba55 ArduCopter: inav funcs use _xy() 2021-11-30 10:08:07 +11:00
Josh Henderson 29ebb9be60 Copter: get_bearing & get_horizontal_distance use Vector2f 2021-11-30 10:08:07 +11:00
Randy Mackay e062ed8fa8 Copter: 4.1.2-rc1 release notes 2021-11-29 19:14:50 +09:00
Peter Barker 32f959f26f ArduCopter: remove unused GUIDED_LOOK_AT_TARGET_MIN_DISTANCE_CM define 2021-11-29 15:09:00 +11:00
Bill Geyer 40d75302c2 Copter: make bailout only enabled with AROT_ENABLE 2021-11-28 14:20:06 -05:00
m e8677216b6 Copter: Add support for pausing and continuing auto missions using COMMAND_INT and COMMAND_LONG 2021-11-25 08:18:27 +09:00
Andrew Tridgell f9d92e2097 Copter: clarify SIMPLE and SUPER_SIMPLE bitmask usage 
based on switch positions, not flight modes
 2021-11-24 08:10:12 +09:00
murata 9d1c3a2df0 Copter: Change the process description 2021-11-18 09:26:26 +09:00
Peter Barker 72f90d84c9 ArduCopter: allow specification of Scheduler table priorities 2021-11-17 19:00:04 +11:00
Randy Mackay 02ad9879fa Copter: surface tracking timeout fix 
also restructure update_surface_offset and add comments

Co-authored-by: Leonard Hall <leonardthall@gmail.com>
 2021-11-17 08:09:00 +09:00
Peter Barker 238a6e4016 ArduCopter: move from ENABLE_SCRIPTING to AP_SCRIPTING_ENABLED 2021-11-15 20:27:40 +11:00
Peter Barker ee9aef25fc ArduCopter: ensure ENABLE_SCRIPTING is always defined 2021-11-15 20:27:40 +11:00
Peter Barker 6228cf25dc Copter: remove unimplemented update_proximity declaration 2021-11-15 07:57:34 +09:00
Shiv Tyagi 477f2824b9 Copter : initialise surface to be tracked 
This sets the surface to be tracked in SurfaceTracking with the value of SURFTRAK_MODE parameter.

Co-Authored-By: Peter Hall <33176108+IamPete1@users.noreply.github.com>
 2021-11-13 11:52:38 +09:00
Shiv Tyagi e1ded4e3f6 Copter : add SURFTRAK_MODE parameter 
Added a parameter which will be used to set the surface to be tracked in surface tracking.

Co-Authored-By: Peter Hall <33176108+IamPete1@users.noreply.github.com>
 2021-11-13 11:52:38 +09:00
Peter Barker b26d8810d4 Copter: add warning that heli's stabilize init code isn't run at vehicle startup 2021-11-11 19:50:29 +11:00
Bill Geyer 8ef88fb98e Copter: add collective stick low flag to catch bad setups for land detector 2021-11-10 16:45:17 -05:00
Bill Geyer 3926b56df0 Copter: change method name to get_below_land_min_coll 2021-11-10 16:45:17 -05:00
chobitsfan 1ca471c2d1 Copter: fix PosHold LOOP_RATE_FACTOR usage 2021-11-10 21:11:37 +09:00
Randy Mackay 31fede4337 Copter: 4.1.1 release notes 2021-11-10 08:07:03 +09:00
Hwurzburg ee5df978af ArduCopter: add Y4 Frame type to Quadcopters 2021-11-05 07:39:27 +11:00
Tatsuya Yamaguchi 0ff28df2ba Copter: change the default of zigzag wp delay to 0 2021-11-05 07:37:31 +11:00
Iampete1 7e2604ef1a Copter: run parent mandatory_checks 2021-11-02 10:05:07 +11:00
Supernovae 0e023f21a6 ArduCopter: Tuning, NFC grammar fixups 
changes to improve overall readablity
 2021-10-27 22:05:50 +11:00
Iampete1 2fa38e46a0 Copter: set_mode_auto_do_land_start_or_RTL uses set_mode 2021-10-23 15:19:38 +09:00
Peter Barker a88264d73b ArduCopter: handle renaming of AP_InertialNav_NavEKF to AP_InertialNav 2021-10-20 18:09:36 +11:00
Peter Barker 1aefa1b378 ArduCopter: move SITL object up to AP_Vehicle 2021-10-19 11:34:43 +11:00
murata a6af0e87fc Copter: Change the auto mode judgment to address 2021-10-18 20:11:39 -04:00
Peter Barker dcc9237c64 ArduCopter: factor substring from allocation_error parameter 2021-10-18 12:49:44 +11:00
Randy Mackay d78f156d6e Copter: 4.1.1-rc1 release notes 2021-10-18 09:03:57 +09:00
Tom Pittenger e7c31dab9c Copter: move ADSB mavlink handling from vehicles to common library 2021-10-14 19:55:27 -07:00
Josh Henderson 3642b14a0b ArduCopter: Guided pos_control_run add yaw_rate timeout 2021-10-13 09:46:24 +11:00
Pierre Kancir 73ff525a30 Copter: fix takeoff end report on EXTEND_STATE 
regression from https://github.com/ArduPilot/ardupilot/pull/18700.
thanks to @arduouspilot on discuss to notice this, see https://discuss.ardupilot.org/t/extended-sys-state-never-changes-once-guided-takeoff-is-started/76996/3
 2021-10-12 16:59:39 -04:00
Randy Mackay c524b6e5b5 Copter: 4.0.8 release notes 
TradHeli release only
 2021-10-12 14:28:20 +09:00
Iampete1 12c1b3e8f5 Copter: add MOT_PWM param conversion 2021-10-11 22:19:17 -04:00
Iampete1 f487118ee9 Copter: update_throttle_range don't set_throttle_range 2021-10-11 22:19:17 -04:00
Josh Henderson 483d308781 Copter: GCSMavlink Guided inputs check force_set and reject 2021-10-11 19:52:15 -04:00
Dr.-Ing. Amilcar do Carmo Lucas 181a5900df Copter: Send ESC telemetry over mavlink while doing compassmot 
compassmot can be used to bypass all PID control loops (this avoids forwarding IMU noise to the motors) while stress-testing the ESCs+motors.
So that temperatures can be monitored in real-time during those long tests, send ESC telemetry as well.
 2021-10-11 19:03:01 -04:00
Tatsuya Yamaguchi 918218bdd4 Copter: fix compilation when ACRO, SPORT and DRIFT modes are disabled 2021-10-12 09:01:14 +11:00
Bill Geyer d0d6457b31 Copter: fix tradheli landing detector bug 2021-10-10 18:55:31 -04:00
murata 995b02e66b Copter: Flight mode channels are optional, not just channel 5 2021-10-08 14:24:23 +11:00
Randy Mackay 7424e0c743 Copter: 4.1.0 release notes 2021-10-08 09:25:41 +09:00
Iampete1 1f163453fc Copter: don't check PWM type directly use helpers 2021-10-06 18:59:57 +11:00
Randy Mackay 9de5ef72db Copter: 4.1.0-rc4 release notes 2021-10-01 20:38:10 -04:00
bugobliterator 2751afaa75 Copter: replace config_error with allocation_error 2021-09-30 08:51:26 +10:00
murata b8456f7b89 Copter: YAW_MODE judgment does everything 2021-09-29 23:52:40 +09:00
Peter Barker cfd686c772 Copter: stop passing current_loc into AP_Camera 2021-09-29 18:33:01 +10:00
Tatsuya Yamaguchi e9115601dd Copter: reset land_repo_active flag in Auto mode 2021-09-28 21:17:45 +09:00
Randy Mackay 51d9714dbb Copter: 4.1.0-rc3 release notes 2021-09-27 17:56:08 -04:00
Randy Mackay d4ff180b29 Copter: guided mode remains in takeoff submode longer 2021-09-28 00:17:25 +09:00
Randy Mackay 59d1af2716 Copter: guided takeoff supports autoyaw 
allows both pilot controlled and externally controlled yaw control
 2021-09-28 00:17:25 +09:00
Randy Mackay 3438d1b46b Copter: param conversion for ACRO_RP_RATE, Y_RATE 2021-09-23 20:03:53 +09:00
Leonard Hall 5d5ccc8c78 Copter: Update ACRO to use rate parameters and update expo function 2021-09-23 20:03:53 +09:00
Randy Mackay 1d7d5d23f7 Copter: add acro and pilot yaw rate and expo 2021-09-23 20:03:53 +09:00
Iampete1 85638cf4fa Copter: fix RC init order to avoid error message 2021-09-21 17:49:47 +10:00
Josh Henderson 3d25eedeb2 Copter: GCS_Mavlink set_position_target_global_int() remove yaw_relative 2021-09-21 09:44:43 +09:00
Iampete1 07824fc963 Copter: support ARMDISARM_AIRMODE 2021-09-21 09:36:24 +10:00
Iampete1 456d57c28f Copter: rename armed_with_switch to armed_with_airmode_switch 2021-09-21 09:36:24 +10:00
Iampete1 5002abcea6 Copter: convert to new ARMDISARM_AIRMODE 2021-09-21 09:36:24 +10:00
Iampete1 804efb51e0 Copter: Only run AP_ARMING throttle arming check if PILOT_THR_BHV bit "Feedback from mid stick" is not set 2021-09-18 15:52:38 +01:00
Andrew Tridgell ab36dc0ed9 Copter: moved accel cal update to vehicle code 2021-09-17 14:07:14 +10:00
Pierre Kancir 7e1716eaeb Copter: Classify failsafe action definitions 2021-09-15 18:04:58 +10:00
Josh Henderson 24b6f024ea Copter: convert RTL_ALT to int32 2021-09-15 16:17:08 +09:00
Randy Mackay 1d7778778d Copter: 4.1.0-rc2 release notes 
also update missing item from 4.1.0-rc1
 2021-09-15 16:15:17 +09:00
Josh Henderson 46ec70f9fc Copter: use vector.xy().length() instead of norm(x,y) 2021-09-14 10:43:46 +10:00
Iampete1 ec5d5b4471 Copter: check for takeoff before continuing after land 2021-09-14 08:24:02 +09:00
Randy Mackay e0dd294806 Copter: guided supports using wpnav to reach position targets 2021-09-13 07:49:16 +09:00
Randy Mackay 396ab6f50e Copter: remove unused set_desired_velocity_with_accel_and_fence_limits 2021-09-13 07:49:16 +09:00
Randy Mackay c7a38b2dff Copter: comment fixup for GUIDED_OPTIONS accessors 2021-09-13 07:49:16 +09:00
Randy Mackay 2597a5c0c2 Copter: GUID_OPTIONS descriptions includes spaces 2021-09-13 07:49:16 +09:00
Peter Barker 2da88263e6 Copter: tidy invocation of precland.update 
Setting the altitude to home-relative is misleading/wasteful in this method as
the alt is unused in precland unless it is marked as "OK" with the
second parameter
 2021-09-11 14:17:24 +10:00
Randy Mackay 76a5682065 Copter: 4.1.0-rc1 release notes 2021-09-10 14:41:48 +09:00
Leonard Hall f3dc47ce3d Copter: Add units to the AC_AttitudeControl Library 2021-09-09 08:01:14 +09:00
Tatsuya Yamaguchi 470cf82a53 Copter: add use_pilot_yaw to ModeSmartRTL class 2021-09-09 07:54:59 +09:00
Tatsuya Yamaguchi 6d7ef8f436 Copter: ignore pilot yaw during takeoff with option 2021-09-09 07:54:59 +09:00
Tatsuya Yamaguchi 94c771ee74 Copter: add use_pilot_yaw to Mode class 2021-09-09 07:54:59 +09:00
Tatsuya Yamaguchi 84845584c8 Copter: remove unused config 2021-09-08 19:34:33 +09:00
Iampete1 38cdc00137 Copter: set force log disarmed moved to AP_Arming 2021-09-08 18:26:40 +10:00
Iampete1 ed83edc2a6 Copter: add SIMPLE_HEADING_RESET RCx_OPTION 2021-09-08 16:49:33 +09:00
Andy Piper 2693b893ad Copter: airmode should mean airmode. only idle on landing when in airmode 2021-09-08 17:11:34 +10:00
Andrew Tridgell f7f63b715f Copter: no need to fabs() get_default_speed_down() as it does fabs already 2021-09-07 18:55:00 +09:00
Iampete1 f848917e1a Copter: log entry and exit of Auto RTL pseudo mode 2021-09-07 09:35:35 +09:00
Randy Mackay af9a91c853 Copter: terrain spelling fix 2021-09-06 16:02:25 +09:00
Leonard Hall 97decc4c21 Copter: Remove parameter RNGFND_GAIN 2021-09-06 16:00:19 +09:00
Leonard Hall 5fea74d4d0 Copter: Separate landing and terrain following. 2021-09-06 16:00:19 +09:00
Andy Piper 568ad09eb8 Copter: NFC variable naming cleanups on turtle mode 2021-09-06 10:06:40 +09:00
Peter Barker 2d023967dc ArduCopter: make bad-mode-number notification consistent across vehicles 2021-09-01 19:45:46 +09:00
Andy Piper 83bcea1fe0 Copter: turtle mode should output to motors from within motors_output() 
move motor output to flightmode
 2021-09-01 16:25:11 +09:00
Peter Barker a38879f77e ArduCopter: eliminate AP::ahrs().get_location 2021-08-31 09:47:31 +10:00
Iampete1 09f1a3da8a Copter: auto RTL: don't switch modes if already in auto 2021-08-31 08:40:08 +09:00
Randy Mackay b4e073d6f7 Copter: AP_Arming integrates rename to using_noncompass_for_yaw 2021-08-31 09:20:17 +10:00
Randy Mackay 8102629dfb Copter: refactor/rename precland methods 2021-08-30 14:08:44 +09:00
Rishabh 40adad743e Copter: Disable Prec Land State Machine when Prec Land disabled 2021-08-30 14:08:44 +09:00
Randy Mackay b54821f608 Copter: 4.1.0-beta8 release notes 2021-08-28 17:14:02 +09:00
Randy Mackay da12593bd8 Copter: implement new set_target methods 2021-08-26 11:25:54 +09:00
Randy Mackay 0b4e926215 Copter: fix ModeGuided::set_destination_posvel 2021-08-26 11:25:54 +09:00
Peter Barker 3a3433cad2 ArduCopter: add and use HAL_BUTTON_ENABLE 2021-08-25 19:03:42 +10:00
Randy Mackay 8c5b079d8e Copter: implement get_circle_radius, set_circle_rate 2021-08-25 18:39:09 +10:00
murata 7f6fbe72e6 Copter: Change the parameter description 
Revert "Copter: Change the parameter description"

This reverts commit 406a1f976c85ae3bda252b6b7c4f8808e91c9fe7.
 2021-08-25 15:46:41 +09:00
Andrew Tridgell 4de4db2aac Copter: added MCU_STATUS message 2021-08-25 07:11:31 +10:00
Iampete1 0895cf0a07 Copter: remove gesture compass cal start / stop 2021-08-24 08:51:29 +09:00
Rishabh c5b98c3490 Copter: Support Prec Land State Machine 2021-08-23 15:00:56 +09:00
bnsgeyer ca007ee6f6 Copter: Allow Tradheli to spoolup in guided or auto mode 2021-08-23 12:26:00 +09:00
Andrew Tridgell 0268506678 Copter: add pad fields for extended COMMAND_ACK 2021-08-19 12:08:54 +10:00
Andrew Tridgell dabdf69e56 Copter: added slew rate and Dmod for PID_TUNING message 2021-08-19 12:08:54 +10:00
Iampete1 1301372bfd Copter: remove override compass check 2021-08-18 18:30:51 +10:00
Iampete1 aa290795c6 Copter: always check GPS in super simple mode 2021-08-18 17:13:51 +09:00
Peter Barker eb5fd84f67 ArduCopter: stop sending SENSOR_OFFSETS 
Only works for first compass instance.

We have all of these in parameters anyway.
 2021-08-18 18:06:24 +10:00
Andrew Tridgell 1b21077edd Copter: mark logger Write() calls as streaming where appropriate 2021-08-18 10:20:03 +10:00
Rishabh cb0b12f25c Copter: only descend when close to target while Prec Land is active 2021-08-17 15:09:55 +09:00
Peter Barker 000b410daa ArduCopter: DCM handles centrifugal correction application internally now 2021-08-17 10:36:46 +10:00
Peter Barker 6f5e3bf4ff ArduCopter: move VehicleClass handling to AHRS frontend 
.... and renaming the enumeration while we're at it
 2021-08-17 10:34:07 +10:00
Iampete1 f5c68d54cb Copter: flowhold: use correct angle max 2021-08-17 09:23:47 +09:00
Tatsuya Yamaguchi 8bd04c17c8 Copter: add DO_LAND_START description to THR/GCS FS action 2021-08-16 20:53:56 +09:00
Tatsuya Yamaguchi 1f8df7e5ff Copter: correct compilation when AUTO mode is disabled 2021-08-16 20:53:56 +09:00
Randy Mackay d7e0c65d55 Copter: 4.1.0-beta7 release notes 2021-08-14 11:03:42 +09:00
Randy Mackay 8d0dd08312 Copter: minor format fix to guided mode 2021-08-13 12:04:36 +09:00
Andy Piper 1b5ed1caff Copter: add turtle mode 
add turtle mode as an RC function
add turtle mode arming checks
re-use motortest arming checks for turtle mode
 2021-08-12 19:00:51 +09:00
Leonard Hall 666c8214b6 Copter: support Control: Refactor to use Jerk 2021-08-11 17:07:29 +09:00
Randy Mackay 672b8350c7 Copter: flowhold minor format fix 2021-08-11 17:07:29 +09:00
Leonard Hall 4d514e9a59 Copter: fix PID filter names FILT -> FLTE, D_FILT -> FLTD 2021-08-10 08:33:56 +09:00
Peter Barker 14e5c99b0c ArduCopter: log GPS primary change event in GPS library 2021-08-06 15:30:18 +10:00
Iampete1 9f5591be02 Copter: notify buzzer on every flight mode change 2021-08-05 14:42:42 +10:00
Leonard Hall 5c7b05f345 Copter: Guided: Add terrain following initialization. 2021-08-05 08:15:52 +09:00
bugobliterator 7e01e10056 Copter: change class name from SITL::SITL to SITL::SIM 2021-08-05 07:25:31 +10:00
Randy Mackay 5dea87ae41 Copter: remove ekf check debug logging 2021-08-03 17:05:09 +09:00
Josh Henderson daf73e7174 ArduCopter: remove POSITION_TARGET_TYPEMASK_FORCE_SET 2021-08-03 12:48:38 +10:00
Peter Barker f21cddcf0f ArduCopter: use mission singleton inside AP_AdvancedFailsafe 2021-08-03 10:35:24 +10:00
Andrew Tridgell e1094bc845 Copter: mark log messages as streaming 2021-08-03 10:23:36 +10:00
Josh Henderson 6dce2e89c5 ArduCopter: guided auto_yaw_angle_rate timeout 2021-07-31 08:32:45 +09:00
Peter Barker f7b877f4da ArduCopter: use AP::compass().available in place of enabled() 2021-07-30 12:19:42 +10:00
Randy Mackay 564f3dde74 Copter: version to 4.1.0-dev 2021-07-29 09:29:23 +09:00
Iampete1 c2a6377c53 Copter: #ifdef scripting specific functions 2021-07-28 18:18:32 +10:00
Iampete1 cc53db406d Copter: treat Auto RTL the same as Auto 2021-07-27 09:00:11 +09:00
Iampete1 885b12f179 Copter: command long DO_LAND_START enters Auto RTL pseudo mode 2021-07-27 09:00:11 +09:00
Iampete1 6561669213 Copter: support Auto RTL for failsafe events 2021-07-27 09:00:11 +09:00
Iampete1 b63cc809ce Copter: add AUTO RTL pseudo mode, DO_LAND_START 2021-07-27 09:00:11 +09:00
Randy Mackay a713139d79 Copter: 4.1.0-beta6 release notes 2021-07-23 12:02:46 +09:00
Paul Riseborough cd0eb379fd Revert "Copter: failsafe if bad vibration" 
This reverts commit fce517fef45d1de95b6cb8d5f79ddd6c374f8482.
 2021-07-22 18:20:45 +10:00
Paul Riseborough 5dcd4834f3 Copter: failsafe if bad vibration 2021-07-22 18:20:45 +10:00
Paul Riseborough 9654697415 Copter: rework ekf_check to use the EKF vibration_affected status 2021-07-22 18:20:45 +10:00
Peter Barker e74a8e28af ArduCopter: rename for AHRS restructuring 2021-07-21 21:01:39 +10:00
Peter Barker f0e660db51 ArduCopter: remove ability to use DCM as AHRS 2021-07-21 21:01:39 +10:00
Randy Mackay d39581f996 Copter: replace use of TERRAIN_MARGIN with WPNAV_TER_MARGIN 2021-07-21 16:03:44 +09:00
Leonard Hall 6d6ab89a72 Copter: Guided and Loiter mode returns Crosstrack error 2021-07-21 15:40:41 +09:00
Leonard Hall a3c31f7ba1 Copter: Fix guided yaw bug. 2021-07-20 15:25:17 +09:00
Iampete1 cbf93c7dad Copter: add new dynamic mixer frame class 2021-07-20 09:19:28 +10:00
Tal Bass 4051b1ca0e Copter: reset land_repo_active flag in RTL mode 2021-07-14 20:49:11 +09:00
Peter Barker 2e18b2d162 Copter: simplify throttle-is-unlimited check 
Now not the same pattern as the other checks - but it is much shorter
 2021-07-14 16:38:36 +09:00
Peter Barker 8ccb77f708 Copter: wait for motors to spool up before trying to upright vehicle 
This stops us from progressing through the whole throw mode if the
vehicle just happens to be in the right state - which is can be for a
drop.
 2021-07-14 16:38:36 +09:00
Peter Barker 21f8ff4a4e Copter: constify some ModeThrow methods 2021-07-14 16:38:36 +09:00
Andrew Tridgell bd84ed126e Copter: removed max home distance 
after discussion with Randy we agreed to just remove this check now we
are numerically stable at long distances
 2021-07-14 17:34:40 +10:00
Leonard Hall df9470d8af Copter: Don't reset yaw rate when disarmed or ground idle in Heli Stab and Acro 2021-07-13 09:51:36 +10:00
Josh Henderson 2ba6ae6196 ArduCopter: mark get_wp() const 2021-07-13 08:05:25 +09:00
Peter Barker 5f039ba06d Copter: fix build for lack of AC_TERRAIN define 2021-07-12 21:14:40 +10:00
Peter Barker 52f6c0e5ca ArduCopter: use singleton to access AP_Terrain data 2021-07-12 17:34:44 +10:00
Peter Barker 3684741517 ArduCopter: remove AC_TERRAIN compilation option 
Use AP_TERRAIN_AVAILABLE instead
 2021-07-12 17:34:44 +10:00
Randy Mackay 7dcc5dd7ac Copter: add TERRAIN_MARGIN parameter 2021-07-10 20:25:05 +09:00
Randy Mackay 50d0592962 Copter: add GUID_TIMEOUT for guided mode vel, accel and angle control 2021-07-10 20:25:05 +09:00
Leonard Hall 1aa3ef9b67 Copter: Guided: move to zero velocity after takeoff 2021-07-10 20:25:05 +09:00
Leonard Hall 58497bacbd Copter: Auto Yaw variable names and comments 2021-07-10 20:25:05 +09:00
Leonard Hall 0f9fcb8c2e Copter: Guided Angle init Z controller on time out 2021-07-10 20:25:05 +09:00
Leonard Hall feae762e64 Copter: additional yaw modes and fixes 2021-07-10 20:25:05 +09:00
Leonard Hall 58b0853012 Copter: Guided: use default yaw mode for all gps based sub modes. 2021-07-10 20:25:05 +09:00
Leonard Hall b84fc7e5e9 Copter: Guided: stop aircraft if an invalid command is sent 2021-07-10 20:25:05 +09:00
Leonard Hall 991cc19f85 Copter: Guided: make aircraft stop on accel time out 2021-07-10 20:25:05 +09:00
Leonard Hall 0132b30d27 Copter: Guided add terrain failsafe 2021-07-10 20:25:05 +09:00
Leonard Hall 8631c3c68f Copter: Guided: support terrain following 2021-07-10 20:25:05 +09:00
Leonard Hall 92099d83ca Copter: Guided: fix waypoint track reporting 2021-07-10 20:25:05 +09:00
Leonard Hall 8da8af973b Copter: Guided close gap between TARGET_LOCAL_NED and TARGET_GLOBAL_INT 2021-07-10 20:25:05 +09:00
Leonard Hall a1ad194abd Copter: seperate kinimatic shaping from pid limit setting 2021-07-10 20:25:05 +09:00
Leonard Hall 80e856af20 Copter: Guided: use common initialisation 2021-07-10 20:25:05 +09:00
Leonard Hall dfbd757f82 Copter: Guided prevent takeoff without takeoff command. 2021-07-10 20:25:05 +09:00
Randy Mackay ba1951a372 Copter: guided accepts terrain alt position targets 2021-07-10 20:25:05 +09:00
Leonard Hall 635d13a106 Copter: support for acceleration-based AttitudeControl 2021-07-10 20:25:05 +09:00
Peter Barker af357ee45c ArduCopter: remove misleading NOINLINE comment 
NOINLINE hasn't been used in years in these files
 2021-07-08 21:28:38 +10:00
Stephen Dade 6c02cd1b54 ArduCopter: Add support for HIGH_LATENCY2 messages 2021-07-07 17:10:05 +10:00
Leonard Hall 455787869e Copter: Correct yaw expo range limit 2021-07-02 16:06:50 +09:00
Randy Mackay 97db237b96 Copter: 4.1.0-beta5 release notes 2021-06-30 13:45:03 +09:00
Andrew Tridgell 5eb1d4a5a9 Copter: improve check of far_from_EKF_origin 
- increases the maximum distance from EKF origin to 250km horizontally
- adds arming check that the vehicle is within 250km of the EKF origin
- fixes a bug in the far-from-EKF-origin related to height (was 500m, now 50km)
 2021-06-30 11:52:55 +09:00
Hwurzburg e6c80744db ArduCopter: remove values metadata from log bitmask 2021-06-30 09:24:26 +09:00
Shiv 4a39424d6b Copter: added comments to include libraries in copter.h and attitude.cpp 
fixed typo in a comment and added more comments for included libraries in copter.h and fixed a comment in attitude.cpp
 2021-06-30 09:23:24 +09:00
Randy Mackay 290124720d Copter: RNGFND_FILT param default increased from 0.25 to 0.5 2021-06-25 15:36:31 +10:00
Andrew Tridgell bada2670a6 Copter: update for new double precision position APIs 2021-06-24 21:34:30 +10:00
Andrew Tridgell d89388c4cc Copter: use cleaned up APIs 2021-06-24 20:28:45 +10:00
Leonard Hall 3fd28bd74b Copter: Set Force Descend to true only when in the last phase of landing 2021-06-23 10:58:50 +09:00
Peter Barker c2c013964d ArduCopter: tidy frame description strings 
Before: AP: Frame: TRI/
After: AP: Frame: TRI
 2021-06-21 16:30:37 +10:00
Randy Mackay 1cafbe1e65 Copter: add configurable rangefinder filter 2021-06-16 18:54:13 +10:00
Peter Barker cdbf6d216e ArduCopter: remove HIL support 2021-06-15 09:47:31 +10:00
Randy Mackay 81e82f75c6 Copter: 4.1.0-beta4 release notes 2021-06-14 10:11:33 +09:00
chobitsfan 14c32f556c Copter: fix build problem when log disabled 2021-06-09 09:34:13 +10:00
Andrew Tridgell 77e566c6ed Copter: don't set takeoff expected in throw mode 
especially bad for dropping off a bridge
 2021-06-02 11:13:16 +09:00
Andrew Tridgell 1371fd7e6f Copter: use new APIs for takeoff/touchdown expected 2021-06-02 11:13:16 +09:00
Andrew Tridgell acb70abe86 Copter: adjust yaw imbalance check to only check imax rather than i 
Existing code was causing way too many false-positives
 2021-06-01 15:23:33 +10:00
Peter Barker 214bc4c282 Copter: make terrain-height-stable-when-no-position value stick 
The set immediately above this return is completely ineffective without
a return statement.
 2021-05-31 16:57:14 +09:00
Peter Barker 61f41803b9 ArduCopter: remove optical flow pointer from AP_AHRS 
Nothing was ever using it.
 2021-05-30 10:44:42 +10:00
Peter Barker b9c1633358 ArduCopter: remove pointless init_optflow wrapper 
Hiding a one-line call in a wrapper just adds size to the build
 2021-05-28 13:41:50 +09:00
Randy Mackay 9a363e9e15 Copter: call AC_PosControl::write_log in modes with only vertical control like AltHold 2021-05-26 18:58:31 +10:00
Leonard Hall 017b267fee Copter: Rename set_attitude_target_to_current_attitude 2021-05-26 16:03:05 +09:00
Leonard Hall dd0b303ec2 Copter: Fix Loiter attitude error during Pre-Takeoff 2021-05-26 16:03:05 +09:00
Leonard Hall 3b0a870504 Copter: Rename set_yaw_target_to_current_heading 2021-05-26 16:03:05 +09:00
Hwurzburg 6c06f72af3 ArduCopter: make centideg metadata incr and range consistent 2021-05-25 10:10:18 +10:00
Hwurzburg a658c4f623 Copter: correct ACRO_RP_EXPO constraint range 2021-05-25 09:06:32 +09:00
Leonard Hall e294991b08 Copter: Fix before squash 2021-05-24 20:13:37 +10:00
Leonard Hall caeaf7c047 Copter: Fix take off altitude 2021-05-24 20:13:37 +10:00
Leonard Hall 4bae8f03a4 Copter: Use PosControl fixes 2021-05-24 20:13:37 +10:00
Randy Mackay 1a4f67955d Copter: 4.1.0-beta3 release notes 2021-05-24 13:18:51 +09:00
Randy Mackay b8296af66a Copter: update 4.1.0-beta release notes 2021-05-20 09:00:39 +09:00
Randy Mackay f2c03a66b6 Copter: 4.1.0-beta2 release notes 2021-05-19 21:15:33 +09:00
Iampete1 c0cf814d3e Copter: disable hover throttle learn in standby mode 2021-05-18 15:59:52 +09:00
Leonard Hall d0b9f6ced6 Copter: minor format fix to rtl 2021-05-13 10:34:02 +09:00
Andy Piper ef18b9f943 ArduCopter: only call init_rc_out() once to avoid losing MOT information 2021-05-12 21:02:42 +10:00
murata 36f3fb316a Copter: Notify the fence breach at the notification level 2021-05-12 17:45:11 +09:00
Pierre Kancir 4368629fb6 Copter: rename RTLState to SubMode 2021-05-12 17:50:47 +10:00
Pierre Kancir 84d385654a Copter: rename SmartRTLState enum to Submode 2021-05-12 17:50:47 +10:00
Pierre Kancir f43e42f0b6 Copter: rename AutoMode enum to SubMode 2021-05-12 17:50:47 +10:00
Pierre Kancir 3fb73d7e93 Copter: move SmartRTLState to SmartRTL class 2021-05-12 17:50:47 +10:00
Pierre Kancir 07632dc7ed Copter: move AutoMode to Auto class 2021-05-12 17:50:47 +10:00
Pierre Kancir 0fe10c6c57 Copter: make SmartRTLState an enum class 2021-05-12 17:50:47 +10:00
Pierre Kancir c4cc3659fc Copter: make RTLState an enum class 2021-05-12 17:50:47 +10:00
Pierre Kancir 4987e54247 Copter: make AutoMode an enum class 2021-05-12 17:50:47 +10:00
Leonard Hall a780759221 Copter: minor format fixes 2021-05-12 17:16:00 +10:00
Andy Piper e19bf8149b Copter: generalise ESC telemetry to allow harmonic notch handling with other ESCs 2021-05-12 17:01:11 +10:00
Pierre Kancir e0d181a793 Copter: use MAVLink POSITION_TARGET_TYPEMASK 2021-05-11 09:53:50 +10:00
Dr.-Ing. Amilcar do Carmo Lucas 2261f94361 ArduCopter: Mark motors un-healthy if any motors are not producing thrust 2021-05-06 16:27:27 +10:00
murata 6d8d35f272 Copter: Change the direct value to the definition name 2021-05-04 19:40:14 -04:00
Iampete1 0545c3941b Copter: mode circle: trigger param value change 2021-05-04 10:41:39 +10:00
Randy Mackay 67e15f8d07 Copter: autotune entry checks moved to init 2021-05-03 20:23:27 -04:00
chobits 7b60ace18b Copter: fix takeoff drift if vehicle is not in origin 2021-05-03 20:10:39 -04:00
Josh Henderson a5b984640e ArduCopter: Privatize AP_IntertialSensor Logging 2021-04-29 19:19:12 +10:00
Peter Barker cc90eddc82 ArduCopter: log auxillary function invocations 2021-04-29 13:00:40 +10:00
Leonard Hall 726074be91 Copter: Support Thrust Vector based navigation 2021-04-27 17:13:55 +09:00
Tatsuya Yamaguchi c42681f4f2 Copter: add exit() method to Mode class 2021-04-26 09:56:34 +09:00
Randy Mackay 5fcd2de4fa Copter: attitude target thrust-as-thrust bit moved from DEV_OPTIONS to GUID_OPTIONS 2021-04-20 09:56:38 +10:00
Randy Mackay 7cf4195f86 Copter: 4.1.0-beta1 release notes 2021-04-14 20:16:31 +09:00
Peter Barker 6727a6588f ArduCopter: tidy setting of sensor status flags 2021-04-14 18:03:27 +10:00
Peter Barker ff072c5215 Copter: stop sending POSITION_TARGET_LOCAL_NED in guided-angle mode 
The values we were sending through were not relevant
 2021-04-14 16:12:57 +09:00
Peter Barker 5df8dd8c50 Copter: move guided submode enumeration into ModeGuided 2021-04-14 16:12:57 +09:00
Peter Barker fa9ac072ec Copter: remove unused AP_IRLock include 
This header is included as required by the AC_PrecLand library - it is
now responsible for actually instantiating the AP_IRLock instance if
required, so Copter doesn't need to know anything about AP_IRLock.
 2021-04-14 12:01:12 +10:00
Andrew Tridgell 5a869174e5 Copter: use handle_landing_target() for precland 
allows for jitter correction
 2021-04-13 17:30:19 +10:00
Peter Barker 65b1868863 Copter: move precision landing logging up into AC_PrecLand 2021-04-13 10:28:39 +10:00
Randy Mackay 6a98ad5a29 Copter: loiter-turns fix 2021-04-12 08:30:19 +09:00
Peter Barker c2411698b9 Copter: point to SITL parameter metadata 2021-04-10 11:28:22 +10:00
Peter Barker 09a9bd73a4 ArduCopter: move handling of last-seen-SYSID_MYGCS up to GCS base class 2021-04-07 17:54:21 +10:00
chobits 28fbc73fb6 Copter: fix build error when landinggear disabled 2021-04-06 17:04:34 +09:00
TunaLobster 1bda79dd72 ArduCopter: loosen motion based landing detection when WoW is present 2021-04-06 08:46:07 +09:00
TunaLobster 444b33b059 ArduCopter: add WoW to Copter landing check 2021-04-06 08:46:07 +09:00
Peter Barker e7a9e0acb4 Copter: move brake state into a structure 2021-04-06 07:53:23 +09:00
Randy Mackay 941cf6b293 Copter: integrate AC_WPNav::get_yaw_rate_cds rename 2021-04-03 12:07:59 +09:00
Randy Mackay 94d4e5912b Copter: add comments to smartRTL 2021-04-03 12:07:59 +09:00
Randy Mackay 96267553cf Copter: auto detects mission changes 2021-04-03 12:07:59 +09:00
Randy Mackay 238d102a56 Copter: auto's wp_start skips submode change on terrain failsafe 2021-04-03 12:07:59 +09:00
Leonard Hall d981de1ff4 Copter: position control PID logging 2021-04-03 12:07:59 +09:00
Leonard Hall a29e2d8920 Copter: fix references to position error 2021-04-03 12:07:59 +09:00
Randy Mackay 7c14f4de0d Copter: rtl passes speed to wpnav::init 2021-04-03 12:07:59 +09:00
Randy Mackay 9d91b6c3be Copter: smart-rtl fix for final point altitude 2021-04-03 12:07:59 +09:00
Leonard Hall 328c0655e3 Copter: support for SCurves and position controller changes 
wp_start provides next_dest_loc
send next_destination to wp_nav instead of setting fast_waypoint
fixup zigzag for S-curve changes
fixup guided
auto spline fixes
smart rtl rename of next_point to dest_NED
loc_from_cmd accepts default location
auto mode stops before starting land command
auto do_next_wp accepts default location
rename do_next_wp to set_next_wp
also rename get_spline_from_cmd argument
also improve failure to set next waypoint due to missing terrain data
also fixup comment in set_next_wp
also auto stops when moving from straight to spline segments
also auto mode spline fix
also auto mode calls AC_WPNav::set_spline_destination_next

Copter: AutoYaw provides rate from WPNav
 2021-04-03 12:07:59 +09:00
Randy Mackay 204c839ae0 Copter: mode_smart_rtl uses peek_point 2021-04-03 12:07:59 +09:00
Peter Barker ce9800e597 ArduCopter: return MAV_RESULT_FAILED from do_aux_function if invalid function 2021-03-31 11:36:09 +11:00
Peter Barker 5edfed0083 Copter: factor out a mode-change-failed method 2021-03-30 19:58:05 +11:00
Peter Barker 1e0f106ed4 Copter: make AutoTune object private state to ModeAutoTune 2021-03-30 11:23:10 +11:00
Peter Barker d387ad9921 Copter: have allows_arming take a AP_Arming::Method rather than bool from_gcs 
This API predates us having the arming methods being passed around.

This makes the calls look like Plane
 2021-03-30 09:00:26 +09:00
Josh Henderson f65c4df358 ArduCopter: make Location(Vector3f) require ALTFRAME 2021-03-30 08:56:35 +09:00
Randy Mackay 8a5b5897f0 Copter: remove unused ADSB_ENABLED from Config.h 2021-03-26 16:22:46 +09:00
Randy Mackay 91fa40aea6 Copter: HAL_PROXIMITY_ENABLED replaces PROXIMITY_ENABLED 2021-03-26 16:22:46 +09:00
Peter Barker 45d484c0ba ArduCopter: remove Log_Write_Performance which is not called anywhere 2021-03-26 16:35:08 +11:00
Peter Barker 3af006019b Copter: mark ModeSystemID as has_manual_throttle, no-arm and no-gps 
This has implications for many things, like smoothing transition to auto
modes, and for arming
 2021-03-26 10:26:34 +09:00
murata 31b0682246 Copter: Move the variable definition 2021-03-25 08:55:17 +09:00
Peter Barker a274697776 Copter: move LAND state variables to be members rather than static 
Also rename one of them as we may be using (e.g.) OF to control position rather
than GPS.
 2021-03-25 09:39:29 +11:00
Peter Barker dc793e916f Copter: move implementation of get_pilot_desired_yaw_rate into mode.cpp 2021-03-24 20:46:08 +11:00
Emre Saldiran d5715292a3 Copter: implement set_target_posvel_NED method for use in scripting 2021-03-24 08:55:48 +09:00
murata 0fe65fd6d3 Copter: Added new settings for flight mode channel 2021-03-24 08:50:59 +09:00
Tatsuya Yamaguchi 069b7142b7 Copter: add allows_flip function to Mode class 2021-03-23 22:48:20 +11:00
Tatsuya Yamaguchi f4eed612d7 Copter: add allows_autotune function to Mode class 2021-03-23 22:48:20 +11:00
Tatsuya Yamaguchi 2b89ac625f Copter: add allows_save_trim function to Mode class 2021-03-23 22:48:20 +11:00
Tatsuya Yamaguchi 0cce5699b2 Copter: change from control_mode to flightmode 2021-03-23 22:48:20 +11:00
Tatsuya Yamaguchi 1dccc0ceb3 Copter: add mode_number function to Mode class 2021-03-23 22:48:20 +11:00
Emre Saldiran 543c2bf55b Copter: change description of system id delay variable (NFC) 2021-03-23 20:09:38 +09:00
Randy Mackay 2d9c6867f4 Copter: accept MISSION_START commands when vehicle is disarmed 2021-03-23 10:12:08 +09:00
Randy Mackay 32fb3cb929 Copter: remove unused update_navigation and run_autopilot 2021-03-23 10:12:08 +09:00
Randy Mackay 1c350514ca Copter: auto mode starts or updates mission from run method 2021-03-23 10:12:08 +09:00
Rishabh 618282e996 Copter: Remove avoidance completly from poshold 2021-03-22 14:04:42 +09:00
Tatsuya Yamaguchi 941c5f8179 Copter: add EKF failsafe notify tones 2021-03-17 20:29:32 +09:00
Randy Mackay ef33ed5e36 Copter: landing gear enabled on all boards 
Co-authored-by: Tatsuya Yamaguchi <susumu-336@hotmail.co.jp>
 2021-03-17 10:41:11 +09:00
Tatsuya Yamaguchi ed8384b45a Copter: add option to disable LANDING_GEAR 2021-03-17 10:41:11 +09:00
Tatsuya Yamaguchi 52cd042d69 Copter: update filtered range finder altitude to AC_WPNav 2021-03-17 09:30:38 +09:00
Ryan Birmingham c2cdb00f85 Copter: constrain throttle before setting deadband 2021-03-17 09:10:08 +09:00
Randy Mackay e0a8baccfd Copter: pre-arm check of EKF pos and vel variances 2021-03-16 13:02:46 +09:00
Randy Mackay 49486b7cea Copter: ekf failsafe may trigger while disarmed but takes no action 2021-03-16 13:02:46 +09:00
Randy Mackay 5babe93201 Copter: ekf failsafe only triggers if it has ever passed 2021-03-16 13:02:46 +09:00
Randy Mackay be29b23195 Copter: do-mount-control ignored if no mount 
Co-authored-by: srirajshukla <srirajshukla@gmail.com>
Co-authored-by: Yash Vadi <yvadi9274@yahoo.com>
 2021-03-16 10:07:16 +09:00
Peter Barker 211a7f85b5 ArduCopter: remove separate calls to get delta-times for vel and ang 2021-03-13 11:29:29 +11:00
Siddharth Purohit da7d34224d Copter: do common gps arming checks first before moving on 2021-03-12 16:32:36 +09:00
Siddharth Purohit 0c42c56c36 Copter: move underscore one layer down for GPS 2021-03-12 16:32:36 +09:00
Rishabh e727d08266 Copter: Provide downward facing rangefinder readings to proximity lib 2021-03-09 11:02:26 +09:00
chobits b7c937592e Copter: send mission_item_reached in guided 2021-03-09 10:04:24 +09:00
James O'Shannessy d055d7a581 ArduCopter: Cleanup - removes autoenabling of fence with AC_Fence parameter 2021-03-05 14:52:46 +11:00
James O'Shannessy f14e1c2799 ArduCopter: Ensure fence has opportunity to auto disable for landing 2021-03-05 14:52:46 +11:00
James O'Shannessy 8ab1cf869d ArduCopter: Remove fence_checks in AP_Arming because they are common across all vehicles now 2021-03-05 14:52:46 +11:00
James O'Shannessy a88f2721a8 ArduCopter: Use auto enable and auto disable from AC_Fence 2021-03-05 14:52:46 +11:00
James O'Shannessy 2a9affe517 ArduCopter: Remove unused fence floor enable function 2021-03-05 14:52:46 +11:00
James O'Shannessy f228adfa75 ArduCopter: Improve auto-enable/disable of fence 2021-03-05 14:52:46 +11:00
Dr.-Ing. Amilcar do Carmo Lucas 92122e5133 Copter: automatically enable and disable floor fence on automated takeoff and landing 2021-03-05 14:52:46 +11:00
Tom Pittenger 38fd43ac2c Copter: change SRx_ docs value 1 50 2021-03-03 18:17:22 +11:00
Mathias Bos b3b7f2d3d2 Copter: Remove yaw rate wrapping in guided mode. 2021-03-03 08:09:08 +09:00
Randy Mackay 64289d436a Copter: reduce ANGLE_MAX default to 30deg 2021-03-03 08:03:39 +09:00
murata 17f285b68f Copter: Add Smart RTL or LAND to the fence action 2021-03-03 07:59:03 +09:00
Iampete1 2e9c11fbdf Copter: add FLIGHT_OPTIONS param and options bits to disable thrust loss and yaw imbalance warnings 2021-03-02 09:35:06 +09:00
Iampete1 447af29ef1 Copter: add yaw imbalance check 2021-03-02 09:35:06 +09:00
Hwurzburg 7d7a7a365d Copter: correct metadata for do_change_speed cmd 2021-02-24 16:06:41 +09:00
Dr.-Ing. Amilcar do Carmo Lucas bbb6bbedf4 Copter: 4.0.7 release notes 2021-02-23 08:03:21 +11:00
Rishabh fdd39ca3a8 Copter: Check for height before turning on proximity simple avoidance 2021-02-16 20:08:00 +09:00
Dr.-Ing. Amilcar do Carmo Lucas 2302f08f75 Copter: run the "point yaw to ROI" controller at full rate (400Hz) instead of 1/4 of full rate (100Hz) 
- This should improve pointing at ROI and replaces #11172
 - Remove unused member variable as per review suggestion
 - declare Mode::AutoYaw::roi_yaw() as const
 2021-02-16 09:30:21 +09:00
Randy Mackay 97c1445bce Copter: ensure send_position_target_global_int alt always absolute 2021-02-15 17:39:07 +11:00
Peter Barker ea0efd3a1a Copter: correct documentation of use of DO_CHANGE_SPEED parameter 2021-02-15 15:44:17 +11:00
Andy Piper 85a8536243 Copter: All men dream, but not equally. 
Those who dream by night in the dusty recesses of their minds, wake in the day to find that it was vanity:
but the dreamers of the day are dangerous men, for they may act on their dreams with open eyes,
to make them possible.
 2021-02-12 08:35:35 +09:00
Gone4Dirt 1e1be590e2 Copter: Add ignore pilot yaw option bit 2021-02-09 19:39:17 +09:00
Iampete1 a572820dbc Copter: system: use config_error loop don't panic 2021-02-09 12:43:54 +09:00
Iampete1 d6fa4d97e3 Copter: add 6DoF support 2021-02-09 12:43:54 +09:00
Patrick José Pereira ffe356d597 ArduCopter: Simplify boolean expression 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-09 11:04:18 +09:00
Mark Whitehorn f405454aba Copter: add nullptr checks for get_frame_string 
fix rebase errors
 2021-02-09 12:43:53 +11:00
Mark Whitehorn cb687a6fff Copter: move get_frame_string to Motors class 2021-02-09 12:43:53 +11:00
Arsh 3609a1b5fd Copter:PreArm Battery low voltage failsafe message repeated two times fix 2021-02-08 09:12:51 +09:00
Andrew Tridgell a70f9d54c0 Copter: update release notes for 4.0.7rc1 2021-02-06 19:16:10 +11:00
Patrick José Pereira ad82e01270 ArduCopter: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Peter Barker adc0514cf6 ArduCopter: move control_mode_reason up to AP_Vehicle 2021-02-03 18:24:52 +11:00
Peter Barker 7bbc699165 Copter: make terrain failure strings human-readable 2021-02-03 15:08:29 +11:00
Rishabh bd37eab3af Copter: Support 3D Simple Avoidance 2021-02-01 14:34:13 +09:00
Iampete1 643966fb3e Copter: add SCRIPTING_MATRIX frame class 2021-01-26 11:07:36 +09:00
Iampete1 0a23084d43 Copter: move get_frame_mav_type to motors 2021-01-26 11:07:36 +09:00
Randy Mackay dc515b87df Copter: ahrs only checks position in modes that require it 2021-01-26 10:46:49 +11:00
Bill Geyer d19dca37d5 Copter: 4.0.6 release notes 2021-01-25 18:39:39 -05:00
Peter Barker 9e7a0e6267 Copter: use iterators in parameter conversion 2021-01-22 11:25:32 +09:00
Leonard Hall 5efe94a771 Copter: use AP_Math control functions 2021-01-20 18:19:40 +11:00
Randy Mackay 0b83d45163 Copter: verify land and payload place record flow-of-control internal error 2021-01-20 09:12:02 +09:00
Bill Geyer 9791e52073 Copter: 4.0.6-rc2 release notes 2021-01-16 16:41:53 -05:00
Tatsuya Yamaguchi b7f5aa7eab Copter: fix compilation when rtl option is disabled 2021-01-13 17:19:19 +09:00
Tatsuya Yamaguchi 621fa857b7 Copter: disable RTL option 2021-01-13 17:19:19 +09:00
Peter Barker 65adf5b4a9 ArduCopter: add do_disarm_checks boolean to disarm call 
this creates symmetry between arming and disarming, at least as far as
the top-level arm() and disarm() calls are concerned.
 2021-01-12 08:48:44 +09:00
Josh Henderson 9daa3bbdaa ArudCopter: privatize AHRS logging 2021-01-12 10:13:22 +11:00