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6710 Commits

Author SHA1 Message Date
Peter Barker 9b64ca040d Copter: do not adjust trims while landed 
Closes #1282

Also cancels autotrim if you change modes, disarm the vehicle or land
again.
 2020-06-03 16:19:01 +10:00
Randy Mackay d2b94bd45d Copter: verify_circle removes redundant setting of circle center 
the circle center is already set in circle_movetoedge_start
 2020-06-03 10:08:52 +09:00
Andrew Tridgell e673bd8909 Copter: implement disarm on land based on MIS_OPTIONS 
only continue with mission if MIS_OPTIONS bit is set
 2020-06-02 09:12:22 +09:00
mmk0102 c0d7739929 Copter: move check for duplicate auxswitch options up 2020-06-02 09:43:31 +10:00
Randy Mackay baa33d99a9 Copter: version to 4.1.0-dev 2020-06-01 12:58:12 +09:00
Randy Mackay ce17844a72 Copter: release notes update for 4.0.4-rc1 2020-06-01 12:55:39 +09:00
Randy Mackay fb2ac2db93 Copter: release notes for 4.0.4-rc1 2020-06-01 12:55:37 +09:00
Andy Piper 3515dc9322 Copter: make sure AP_Vehicle::fast_loop() gets called 2020-05-24 07:43:34 +10:00
Gone4Dirt 9269ee50ed Copter: Allow manual autorotations without enabling arot flight mode 2020-05-20 21:56:09 -04:00
Iampete1 13d6a887fd Copter: align GCS PID with logged 2020-05-19 09:04:16 +10:00
murata 520782d7f2 Copter: Correction of spelling errors (NFC) 2020-05-18 13:26:11 +10:00
Randy Mackay 64360f263c Copter: land detector allows larger lean angle request in land mode 2020-05-14 08:24:29 +09:00
chobits 8ce27afba0 Copter: fix mode and fence gps check fail message 2020-05-11 10:41:06 +09:00
Tatsuya Yamaguchi 875fa36018 Copter: remove an unnecessary condition 2020-05-05 11:03:38 +10:00
Tatsuya Yamaguchi 9c3a0b863f Copter: use check_failed function for ESTOP arming check 2020-05-05 11:03:38 +10:00
Randy Mackay 944939fde3 Copter: remove unused heli definitions 2020-05-02 11:32:09 +09:00
Randy Mackay e889f6091e Copter: fix Throw param desc 2020-05-02 11:32:06 +09:00
Dr.-Ing. Amilcar do Carmo Lucas d1eb03df30 Copter: Report MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL and MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL as healthy if the flight mode says so. 
Brings it up to the Sub and Plane status
 2020-05-01 08:14:11 +09:00
Peter Barker ba5bbcdea7 ArduCopter: create and use INTERNAL_ERROR macro so we get line numbers 2020-04-30 13:21:36 +10:00
Andrew Tridgell 265b9a42fb ArduCopter: invalidate param count when changing param tree structure 2020-04-29 07:36:55 +10:00
Randy Mackay d9ecf51457 Copter: auto mode loiter-turns accepts pilot yaw input 2020-04-27 09:39:46 +09:00
murata e1df6933f0 Copter: Set the minimum value to zero. 2020-04-27 08:57:49 +09:00
Randy Mackay 77ff169757 Copter: minor comment fix 2020-04-24 18:18:05 +09:00
Randy Mackay 680e417c2c Copter: remove unnecessary includes 2020-04-24 18:18:05 +09:00
Randy Mackay 6c48a9c305 Copter: use AHRS::get_primary_core_index instead of EKF2 equivalent 2020-04-24 18:18:05 +09:00
Randy Mackay ddaa5dee86 Copter: use static assert to simplify use of EKF_CHECK_ITERATIONS_MAX 2020-04-24 09:43:23 +10:00
Paul Riseborough 8ce97af40e ArduCopter: Preserve original check criteria 2020-04-24 09:43:23 +10:00
Paul Riseborough 36031c01a9 ArduCopter: rework ekf check to use separate yaw reset request 
ArduCopter: Request lane or yaw reset switch sooner

ArduCopter: rework ekf check to use separate yaw reset request

ArduCopter: Rework EKF failsafe

During flight operations it is the deviation in position of the vehicle that matters during most scenarios.
t patch ensures that an EKF fail-safe will be triggered when the position inconsistency exceeds check limits in addition to either a bad mag or velocity innovation.
This will stop velocity noise triggering an early fail-safe when electromagnetic interference is present.
 2020-04-24 09:43:23 +10:00
Randy Mackay dcbbd047b4 Copter: simplify guided mode takeoff using rangefinder 2020-04-23 15:01:46 +09:00
Tatsuya Yamaguchi 29dcbd1398 Copter: use rangefinder to takeoff altitude in guided mode 2020-04-23 15:01:46 +09:00
Randy Mackay c4b5d47e1f Copter: white space fixes 2020-04-23 13:17:11 +09:00
Randy Mackay b32c5a840b Copter: do not send ahrs3 mavlink message 2020-04-22 14:11:17 +09:00
Randy Mackay f3989cae4c Copter: remove unused Ch6 EKF tuning options 2020-04-22 10:34:18 +09:00
Rishabh 1edf1d265c Copter: Set correct yaw for circle in Mode Auto 2020-04-21 20:12:38 +09:00
Andrew Tridgell 4c2cf2139e Copter: fixed use of timestamps in autorotate 
fixes wrap handling
 2020-04-20 07:10:21 +10:00
Andrew Tridgell ffd601aca4 Copter: fixed build warnings in autorotate 
unused code, and incorrect use of abs()
 2020-04-20 07:10:21 +10:00
Randy Mackay c0ac4bb51c Copter: loiter-turn obeys wpnav-rfnd-use 2020-04-16 17:30:29 +09:00
Randy Mackay 71cbedb178 Copter: support circle with terrain altitude 2020-04-16 17:30:29 +09:00
Peter Barker bf79c49c23 ArduCopter: remove comment for already-removed in-delay-callback function 
These are now attached to completely unrelated functions, which is
pretty bad.
 2020-04-16 15:11:35 +09:00
murata 04b0a8a62a Copter: Add expected value to message 2020-04-14 10:09:05 +09:00
murata 2822fa68fc Copter: Adding flight mode to flight mode unchangeable messages 2020-04-14 09:53:17 +09:00
Randy Mackay 04c3f040a8 Copter: visual odometry moved to AP_Vehicle 2020-04-09 19:41:08 +09:00
Randy Mackay 05a37db07c Copter: remove call to visual_odom.update 2020-04-09 19:41:08 +09:00
Leonard Hall c29aa4077d Copter: Acro expo typo fix 2020-04-08 08:58:47 +09:00
murata f70ab73a1f Copter: Change arming messages 2020-04-08 08:55:17 +09:00
Michael du Breuil 132fe82ad2 Copter: Report what channel is used for rudder arming 2020-04-07 14:01:12 -07:00
Rishabh 7c4b195488 Copter:Logger documentation TimeUS fix 2020-04-07 18:57:01 +10:00
Peter Barker 2670192c41 Copter: add D16, D32, DFLT and DU32 LogMessage documentation 2020-04-07 10:41:22 +10:00
Rishabh 62ec6540ec Copter: Added logger documentation 2020-04-07 09:09:45 +10:00
Rishabh 3b077ec612 Copter: Added FlowHold logger documentation 2020-04-07 08:05:10 +09:00
Rishabh 41590916d5 Copter: Added Throw Mode logger documentation 2020-04-07 08:05:10 +09:00
Rishabh 4995a9b274 Copter: Added Toy Mode logger documentation 2020-04-07 08:05:10 +09:00
Andrew Tridgell 1222aa2c43 Copter: make EKF mag variance check use max 
this makes it consistent with logged value
 2020-04-06 17:30:29 +10:00
Leonard Hall 1a4e96b4ba Copter: Fix Rate expo calculation 
This fixes a bug in the yaw rate expo and makes these changes consistent with roll and pitch rate expo.
 2020-04-06 09:41:39 +09:00
Tatsuya Yamaguchi 735498e160 Copter: move zigzag exit into mode_zigzag.cpp 2020-03-26 14:56:40 +09:00
Peter Barker c9f810e924 Copter: add missing ABst to CTUN logmessage documentation 2020-03-22 18:35:14 +11:00
Henry Wurzburg 408b2b1e8d ArduCopter: fix typos in logger message meta-data 2020-03-22 10:04:53 +11:00
Peter Barker 1fbace608d Copter: add CTUN log information 2020-03-21 09:34:43 +11:00
Randy Mackay e2469d29bc Copter: implement start_takeoff and set_target_velocity_NED for use in scripting 2020-03-19 15:17:11 -07:00
Randy Mackay db2229f684 Copter: ModeGuided::do_user_takeoff_start arg rename 
this makes it more consistent with the method it is overriding
 2020-03-19 15:17:11 -07:00
Andrew Tridgell 375c08f39c Copter: convert to new get_rpm() API 2020-03-12 08:36:40 +11:00
Randy Mackay 90883624bc Copter: fix use of wp-navmin-alt 2020-03-11 10:39:18 +09:00
Peter Barker 3802ca217e ArduCopter: move AP_PARM_KEY_DUMP function up to AP_Vehicle base class 
Common to all vehicles now, including Tracker
 2020-03-10 11:00:14 +11:00
Randy Mackay a9630d67d1 Copter: implement set_target_location method 2020-03-03 10:06:38 -07:00
Peter Barker 9f87962cf4 Copter: correct toymode compilation for recent compass changes 2020-03-03 21:56:33 +09:00
Peter Barker 136d0cce0b Copter: rewrite_get_alt_above_ground_cm for clarity 
It's not entirely clear at a glance that we don't return an
uninitialised value off the stack here.
 2020-03-03 21:38:03 +09:00
Randy Mackay b2a298fa5f Copter: update vibration failsafe comments 2020-03-02 15:12:57 +09:00
Randy Mackay 255c5d4126 Copter: set-pos-target-global-int fails sooner if accel given 
same change for set-position-target-local-ned processing
 2020-03-02 14:26:33 +09:00
Randy Mackay b21ecda76f Copter: fix guided mode handling of terrain altitudes 2020-03-02 14:26:33 +09:00
Randy Mackay 10e367cacb Copter: 4.0.3 release notes 2020-02-29 09:40:23 +09:00
Randy Mackay 8d99f204b0 Copter: integrate landing gear option and make edge based 
also guided mode now retracts landing gear after takeoff
previously landing gear deployment was "level based" meaning the pilot could not override the gear's position
 2020-02-26 08:01:00 +09:00
Randy Mackay 7565e9d75d Copter: update_throttle_mix uses filtered accelerations 2020-02-25 16:52:40 +09:00
Randy Mackay 9a32b3bdd9 Copter: rename update_throttle_mix 
was called update_throttle_thr_mix
also minor formatting fixes
 2020-02-25 16:52:40 +09:00
Peter Barker ae2578e5c9 ArduCopter: move initialisation of serial and gcs to AP_Vehicle 2020-02-25 11:50:55 +11:00
Andrew Tridgell dd5fafe30e Copter: added rangefinder height interpolated using inertial alt 
this smooths rangefinder heights and allows for good estimated for
precision landing even with loss of some rangefinder samples during landing
 2020-02-25 09:10:30 +09:00
Peter Barker ce5f23810b ArduCopter: log disarm method 2020-02-22 12:16:29 +11:00
Andy Piper 4c1816a983 Copter: port betaflight in-flight fft analysis to arducopter and expose as a log message 
add harmonic notch tracking mode
call AP_GyroFFT::update_freq_hover() from update_throttle_hover()
move gyrofft configuration and control to AP_Vehicle
move fft logging to fft library
 2020-02-22 11:15:37 +11:00
Randy Mackay def108c0e0 Copter: version to 4.0.4-dev 2020-02-20 12:58:07 +09:00
Randy Mackay 283682fb89 Copter: 4.0.3-rc1 release notes 2020-02-20 12:56:15 +09:00
Tatsuya Yamaguchi 9f577a23c8 Copter: stop spray if changing a mode from ZigZag to other 2020-02-19 19:56:56 +09:00
Tatsuya Yamaguchi 19d2ffcde7 Copter: makes the pump on while moving to destination A or B 2020-02-19 19:56:56 +09:00
Tatsuya Yamaguchi 6b192de389 Copter: add ZIGZAG_AUTO_PUMP parameter 2020-02-19 19:56:56 +09:00
Siddharth Purohit defc1b5fcb ArduCopter: add arming message for compass not detected but assigned 2020-02-19 13:59:53 +09:00
Siddharth Purohit b5cf1ecfe1 Arducopter: Primary Compass is always serial# 0 2020-02-19 13:59:53 +09:00
Rishabh d4dcadcea0 Copter: Rename SYSID_SW_MREV to FORMAT_VERSION 2020-02-19 09:45:22 +09:00
murata 94901edaf2 Copter: Match the column of element description 2020-02-19 09:44:57 +09:00
Patrick José Pereira 7bfcec2fc1 Copter: log_Heli is only used with FRAME_CONFIG as HELI_FRAME 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-02-18 11:14:04 +11:00
Peter Barker 1424945c14 ArduCopter: remove unused compass_init_location state 2020-02-18 10:35:49 +11:00
Randy Mackay d04c86be1e Copter: minor format changes to GCS_MAVlink.cpp 2020-02-17 14:42:49 +09:00
Sachchit Vekaria f6125b26e8 Copter: Allowing Terrain Following in Guided Mode 
Uses frame type of MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT message to decide the value of terrain_alt boolean.
 2020-02-17 14:42:42 +09:00
Randy Mackay eca0d662f0 Copter: minor format fix to sensors.cpp 2020-02-17 14:30:18 +09:00
Randy Mackay 495c4ad6b6 Copter: remove unused ModeAuto::wp_start 
this version accepts an offset from the ekf origin which is not required.  All callers provide a Location
 2020-02-17 14:30:18 +09:00
Randy Mackay d244162587 Copter: zigzag supports arming, takeoff and landing 2020-02-13 07:37:29 +09:00
Randy Mackay 670ac124c0 Copter: 4.0.2 release notes 2020-02-11 12:35:54 +09:00
Peter Barker 18670d681e Copter: let AP_Vehicle handle loop() 2020-02-06 14:41:06 +11:00
Randy Mackay 2ab124223a Copter: version to 4.0.3-dev 2020-02-06 08:38:43 +09:00
Randy Mackay 8ff5bb624f Copter: update release notes for 4.0.2-rc4 2020-02-06 08:36:58 +09:00
Randy Mackay 19ad51913c Copter: 4.0.2-rc4 release notes 2020-02-06 08:36:55 +09:00
Randy Mackay c7f8c6155b Copter: avoid SITL failure when changing current_loc.alt frame 
This change avoids a SITL failure caused by an attempt to change current_loc.alt's frame when current_loc is 0,0,0
 2020-02-05 17:29:34 +09:00
Randy Mackay bd8bcd5ab1 Copter: correct current_loc to be alt-above-home 2020-02-05 14:18:00 +09:00
Matt Lawrence 66bf6d0a91 Copter: Fix circle radius pitch stick control 
Pitch stick up will reduce the radius, as in moving forward.  Pitch stick back will increase the radius, as in moving backwards.
 2020-02-04 09:11:03 +09:00
Randy Mackay 9a0e6f6488 Copter: 4.0.2-rc3 release notes 2020-02-01 17:10:56 +09:00
Randy Mackay be561d41d2 Copter: 4.0.2-rc1 release notes 2020-02-01 09:21:44 +09:00
Randy Mackay 74e3ca75a7 Copter: check_mot_pwm_params arming check returns true on success 2020-01-30 10:13:21 +09:00
ashvath aecc10fdc3 Copter: Pre-arm check for mot_pwm 2020-01-30 08:29:56 +09:00
Peter Barker 9e8af48cce ArduCopter: move some common init_ardupilot code up to AP_Vehicle 2020-01-28 11:34:51 +11:00
Peter Barker debedd9d34 Copter: move setup method up to AP_Vehicle base class 2020-01-28 11:34:51 +11:00
Peter Barker 45b2f24867 Copter: StorageManager layout is now done with a pragma 2020-01-28 11:34:51 +11:00
Randy Mackay 2f6d655ff0 Copter: version to 4.0.2-dev 2020-01-27 18:57:38 +09:00
Randy Mackay 7e9f079fc7 Copter: 4.0.1 release notes 2020-01-25 10:10:44 +09:00
Matt Lawrence b5a051ed69 Copter: Reverse circle radius stick input 
Change the circle mode radius control so that pitch stuck up (forward) reduces the radius. Pulling the pitch stick back (reverse), increases the radius.
 2020-01-22 11:16:51 +09:00
Matt Lawrence d1feb93152 Copter: Add GCS failsafe pre-arm check 2020-01-21 13:48:54 +09:00
Matt Lawrence c7de86a241 Copter: Update AP_Notify of GCS failsafe 2020-01-21 13:48:54 +09:00
Randy Mackay 6597d5c825 Copter: remove old ch7_opt and tune param desc 2020-01-21 13:06:56 +09:00
Peter Barker e3dd0d33e7 Copter: allow NavEKFs to be compiled out 2020-01-21 11:53:18 +11:00
Peter Barker 45dc4cf25c Copter: EKF objects have moved into AP_AHRS_NavEKF 2020-01-21 11:53:18 +11:00
Peter Barker 9466126fa8 Copter: let AP_Vehicle base class worry about scheduler delay callback 2020-01-21 11:37:28 +11:00
Randy Mackay e1274aea33 Copter: 4.0.1-rc3 release notes 2020-01-19 11:20:40 +09:00
Andrew Tridgell 4445313661 Copter: fixed build warnings 2020-01-18 17:19:07 +11:00
Andrew Tridgell 1350f6e338 Copter: use HAL_PARACHUTE_ENABLED and HAL_SPRAYER_ENABLED 2020-01-18 13:48:48 +11:00
Andrew Tridgell f4f62b2699 Copter: remove linkage of AP_Stats 2020-01-16 20:36:54 +11:00
Andrew Tridgell 47ea3274bb Copter: list BetaflightXReversed frame type 2020-01-16 19:13:13 +11:00
Peter Hall 61810d69aa Copter: set_likely_flying in vehicle 2020-01-14 22:34:37 -07:00
Peter Barker 1ffd697769 Copter: add missing fallthrough statements 2020-01-15 13:55:42 +11:00
Andrew Tridgell 1fae2009db Copter: update for new SRV_Channels parameter conversion call 2020-01-14 14:23:11 +11:00
Gone4Dirt daf1b57736 Copter: Changed autorotation fltmode to clarify for heli 2020-01-14 09:47:28 +09:00
Peter Barker e1b3bd2e42 ArduCopter: move logging of armed/disarm events into AP_Arming base class 2020-01-14 11:39:36 +11:00
Tatsuya Yamaguchi e01e924711 Copter: allow scripts to get modes 2020-01-14 11:16:29 +11:00
Peter Barker 0986ed0a81 Copter: set_range on motor interlock channel 2020-01-11 21:55:24 +11:00
Randy Mackay 17e726b967 Copter: 4.0.1-rc2 release notes 2020-01-10 16:35:26 +09:00
Randy Mackay 5a2386001b Copter: 4.0.1-rc1 release notes 2020-01-10 12:39:10 +09:00
bnsgeyer 64f98622c0 Copter: fix tradheli RSC RC passthrough mode 
Copter: heli get_pilot_desired_rotor_speed converts interlock input to desired rotor speed
 2020-01-09 19:55:02 +09:00
Peter Barker eb452478ac Copter: override do_aux_function_armdisarm method to set armed_with_switch 
As well as removing the code duplication, this only sets the flag if
arming was actually successful.  armed-with-switch is used when setting
various state, and it isn't entirely clear that we only use it when
armed.  This would seem to be a safer option.
 2020-01-08 18:36:02 +11:00
Peter Barker 0d04ef19fe ArduCopter: let RC_Channel indicate AUX_FUNC::ARMDISARM needs no initialisation 
All users set this.
 2020-01-08 18:36:02 +11:00
Matt Lawrence 809b170015 Copter: Circle mode pilot control of rate & radius 
RC pitch stick controls circle mode radius.  RC roll stick controls circle mode rate (speed) and direction.
 2020-01-07 09:30:33 +09:00
Peter Barker d5b1f1651e Copter: remove unneeded set_range calls on RC Aux channels 
This isn't an exhaustive list of channels used for auxillary input, so
that makes this wrong.

RC_Channel goes off the raw get_radio_in values, so setting these is a
pointless and potentially confusing state change.

Also, Plane and Rover don't do this - so things are more consistent
after this.
 2020-01-07 08:41:36 +09:00
murata a31f881232 Copter: Change the version patch number 2020-01-06 09:29:21 +09:00
Peter Barker 1ff07762de Copter: remove report_compass method 
This wasn't actually responsible for saving offsets any more.

The data spewed out was rather unlikely to be seen, and will be present
in logs anyway.
 2020-01-04 10:46:51 +09:00
Peter Barker 2694560c38 Copter: generally unseen remove report_version 
This won't generally be seen or useful to anyone
 2020-01-04 10:46:51 +09:00
Peter Barker 326a569ea8 Copter: remove dangling read_control_switch method declaration 2020-01-02 10:13:35 +09:00
Andrew Tridgell 630bd7062c Copter: removed init_vehicle from separate vehicles 
use common call from AP_BoardConfig
 2019-12-30 13:02:04 +11:00
Andy Piper 93abfdb905 Copter: create generic vehicle management and move runcam to it 2019-12-30 13:02:04 +11:00
Randy Mackay f0848551d9 Copter: version to 4.0.1-dev 2019-12-29 12:52:27 +09:00
Randy Mackay ac8e402158 Copter: 4.0.0 release notes 2019-12-29 12:51:39 +09:00
Randy Mackay 5d70af3f76 Copter: 4.0.0-rc6 release notes 2019-12-28 11:32:18 +09:00
Peter Barker a56ab9136e Copter: let GCS base class handle proximity and rangefinder messages 2019-12-24 12:08:54 +11:00
Peter Barker 72e6446204 Copter: make requires_terrain a callback on the flightmode 
This will prompt new modes to consider whether failsafe should be active
for terrain.
 2019-12-24 09:46:19 +09:00
Randy Mackay 5e13fc1e0f Copter: 4.0.0-rc5 release notes 2019-12-23 22:52:04 +09:00
Randy Mackay f56a426193 Copter: gcs failsafe disabled by default 2019-12-23 14:35:15 +09:00
Randy Mackay 4f7be08442 Copter: 4.0.0-rc4 release notes 2019-12-20 09:29:30 +09:00
Andrew Tridgell d9a255afc3 Copter: fixed range check for RC channel 2019-12-20 10:55:14 +11:00
Randy Mackay 842a9b78a9 Copter: remove out-of-date comment from terrain failsafe check 2019-12-17 20:02:01 +09:00
Randy Mackay 3e7fb66a77 Copter: precision landing does not use terrain database 
precision landing was always only using the range finder, there was no use of the provided alt unless the rangefinder was good
 2019-12-17 20:02:01 +09:00
Randy Mackay ea22e888c7 Copter: improve RTL terrain following 
RTL_ALT_TYPE replaces TERRAIN_FOLLOW param
return path built using rangefinder or terrain database
pre-arm checks for RTL_ALT_TYPE parameter
pre-arm checks of terrain data only run if RTL might use it
 2019-12-17 20:02:01 +09:00
Randy Mackay 39a6b104dd Copter: move RTLState to ModeRTL 2019-12-17 20:02:01 +09:00
Randy Mackay 0a1b96e02d Copter: zigzag uses renamed AC_WPNav::rangefinder_used_and_healthy 2019-12-17 20:02:01 +09:00
Randy Mackay e8a3f6d6a1 Copter: 4.0.0-rc3 release notes update 2019-12-17 12:51:40 +09:00
Randy Mackay 111dfc130b Copter: 4.0.0-rc3 release notes 2019-12-17 12:51:34 +09:00
bnsgeyer 74d81e6d50 Copter: Change STAB_COL params to percent 2019-12-14 09:00:31 +09:00
Randy Mackay 98ea8e0627 Copter: 3.6.12 release notes 2019-12-13 15:25:19 +09:00
Randy Mackay b482d147df Copter: always store previous control mode 
also minor spacing fixup
 2019-12-12 09:13:24 +09:00
Randy Mackay f768e80458 Copter: remove unused prev_control_mode_reason 2019-12-12 09:13:24 +09:00
Peter Barker 10bbcf98be Copter: tidy land_run_vertical_control for precision-landing case 2019-12-11 08:18:49 +09:00
Peter Barker 544eb5f179 Copter: correct duplicate button instance 2019-12-10 09:29:52 +09:00
Peter Barker a567e8bc94 Copter: use https:// scheme for ardupilot URLs 2019-12-10 07:53:46 +11:00
Randy Mackay 46f237e78e Copter: 3.6.12-rc1 release notes 2019-12-09 10:50:25 +09:00
Peter Barker d63788a09f Copter: move setting of GPS SYS_STATUS bits up to base class 2019-12-05 13:02:19 +11:00
Leonard Hall 7d062e3767 Copter: System ID mode: Add tuning option parameter discription 2019-12-05 09:21:00 +08:00
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