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Commit Graph

301 Commits

Author SHA1 Message Date
Peter Barker
ff82f23cf6 Copter: factor out a ekf_check_position_problem method 2017-09-19 12:44:43 +01:00
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
Peter Barker
6b5fd5fbdd Copter: move gcs_out_of_time into GCS object 2017-09-12 18:28:07 +01:00
squilter
4b57a4a231 Copter: rename SafeRTL to SmartRTL 2017-09-09 14:05:41 +09:00
squilter
ba0e08552f Copter: add SafeRTL flight mode 2017-09-09 14:05:41 +09:00
Peter Barker
470e790117 Copter: add constant structure holding firmware version 2017-08-30 15:54:46 +01:00
Peter Barker
30fac9160e Copter: mavlink PERF messages also spit out average and standard deviation 2017-08-29 21:31:46 +01:00
Peter Barker
aa06fc499c Copter: use GCS_MAVLINK subclasses to handle set_mode 2017-08-16 11:58:10 +10:00
Peter Barker
c6b9c84d1f Copter: remove CLI 2017-08-14 10:23:50 +09:00
Jani Hirvinen
bdbe26eb28 Copter: minor comment fix 
small edit on comments to kickoff autobuild
 2017-08-09 20:14:22 +09:00
Peter Barker
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
cdf9ebcb39 Copter: camera is responsible for taking distance-based-images and logging 2017-07-28 14:27:53 +01:00
Randy Mackay
f97e43919b Copter: add gps glitch notification and pre-arm check 2017-07-27 14:16:23 +09:00
khancyr
49755063ab Copter: move send_proximity to GCS common code (NFC) 2017-07-24 13:44:43 +01:00
Peter Barker
e45efeb829 Copter: move starting of new logs into DataFlash 2017-07-19 16:37:28 +01:00
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
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
Peter Barker
f60389d4aa Copter: use send_text method on the GCS singleton 2017-07-09 17:17:29 -04:00
Peter Barker
d9b45cc202 Copter: create GCS subclass, use inheritted methods 2017-07-07 16:18:37 +01:00
Eugene Shamaev
24c390ade0 ArduCopter: move of CAN parameters into separate group 2017-07-03 11:44:32 +01:00
Peter Barker
8b57405143 Copter: handle knowledge of in_log_download in DataFlash 2017-06-27 03:10:43 +01:00
Leonard Hall
7eab1239c7 Copter: attitude logging at 400hz 2017-06-22 15:18:04 +09:00
Pierre Kancir
261eb387eb ArduCopter: change rangefinder msg for common one 2017-06-08 01:31:43 +01:00
Randy Mackay
cb76bd8f3d Copter: compass set-initial-location uses ahrs location 
Previously it could attempt to use a gps location even if gps was not being used
Also compass-accumulate moved to sensors.cpp
 2017-06-07 13:01:38 +09:00
Randy Mackay
814cadac68 Copter: consolidate set_home functions 
added lock argument instead of having twice as many functions
no functional change
 2017-06-07 13:01:38 +09:00
Peter Barker
0bc17645fb Copter: AutoTune: add gcs messages detailing wait-for-level state 2017-05-18 09:36:00 +09:00
Peter Barker
586a5df814 Copter: add GCS messaging during autotune 2017-05-18 09:36:00 +09:00
Randy Mackay
91d4b4777b Copter: respond to param list request after motor init 2017-05-15 14:13:43 +09:00
Randy Mackay
a3450a955d Copter: fix LED notify during auto esc calibration 2017-05-11 11:30:05 +09:00
Randy Mackay
713c08672f Copter: integrate AP_VisualOdom 2017-04-19 11:04:40 +09:00
Jonathan Challinger
054aab738b Copter: remove const qualifier from do_precision_loiter 2017-03-29 14:06:12 +09:00
Andrew Tridgell
6bb5c16fb8 Copter: allow for HELI_DUAL configurations 2017-03-25 16:22:10 +11:00
Randy Mackay
8140353c64 Copter: log event when primary GPS changes 2017-03-13 11:31:51 +11:00
Peter Barker
1d70a337dd Copter: remove unused desired_climb_rate variable 2017-03-09 19:52:58 +11:00
Andrew Tridgell
0d1bcd3b94 Copter: added automatic yaw to autotune position control 2017-02-27 19:34:44 +09:00
Andrew Tridgell
37fca03db3 Copter: implement simple position hold during autotune 
this holds position during tuning with low gain
 2017-02-27 19:34:36 +09:00
Randy Mackay
51c00f8144 Copter: use only downward facing rangefinder 2017-02-27 15:18:16 +09:00
Peter Barker
029aeeb4fd Copter: support for a GCS singleton 2017-02-13 09:32:01 +11:00
Peter Barker
f49f153da0 Copter: rename gcs[] to gcs_chan[] 
Wish to use gcs() to return the gcs singleton
 2017-02-13 09:32:01 +11:00
Randy Mackay
cb1f7ba4bb Copter: remove setting position control's altitude max 
AC_Avoid now takes responsibility for enforcing the alt limit and accesses inertial nav's limit directly
 2017-01-18 09:35:47 +09:00
Randy Mackay
b15d341850 Copter: add avoidance adjusted climb rate 2017-01-18 09:35:47 +09:00
Randy Mackay
cc217550c0 Copter: rename arming_checks to AP_Arming 2017-01-17 11:45:08 +09:00
Peter Barker
bd6ffc025e Copter: start conversion to AP_Arming_Copter 2017-01-17 11:45:08 +09:00
Andrew Tridgell
1297a7dedb Copter: convert the rest of motors class for tricopter 2017-01-12 17:39:37 +11:00
Andrew Tridgell
0f6d0c5ba9 Copter: combined tri, single, coax and multicopter into a single build 
this allows copter to be just 2 builds, one for heli, and one for
everything else
 2017-01-12 17:39:37 +11:00
Andrew Tridgell
5a87ae3f01 Copter: use new SRV_Channels API 2017-01-12 17:39:37 +11:00
Francisco Ferreira
11b635df12
Copter: correct limit status to fence status 2017-01-12 02:00:51 +00:00
Peter Barker
a233024e05 Copter: fix compilation when fence andd proximity are disabled 
This adds AC_AVOID_ENABLED; avoidance must be disabled if either
of fence or proximity are disabled.

Parameter definitions have been reordered to avoid compiler warnings;
this make sthe numbering non-linear
 2017-01-03 10:44:03 +09:00
Randy Mackay
01bcf5e528 Copter: add arming checks for motor setup 2016-12-31 10:55:23 +09:00
Randy Mackay
217757fdc8 Copter: default FRAME_CLASS 2016-12-31 10:55:23 +09:00
Randy Mackay
0ac00dbfd6 Copter: add FRAME_CLASS parameter 2016-12-31 10:55:23 +09:00
Andrew Tridgell
c3b9dbf5c8 ArduCopter: Add EKF3 and remove EKF1 2016-12-19 08:07:09 +11:00
Pierre Kancir
3fc17a5ed5 Copter: avoid must be initialized after fence as it use it 2016-12-05 10:59:45 -08:00
Peter Barker
556eb88fe5 Copter: fix compile when precland is not selected 
Fixes #5327
 2016-12-05 20:03:00 +09:00
Peter Barker
289aba4350 Copter: support for NAV_CMD_PLACE 2016-12-02 12:52:53 +11:00
Randy Mackay
74c9c4aa9d Copter: add beacon data flash logging 
Added to Copter vehicle because currently only used by Copter
 2016-11-30 17:56:59 +09:00
Randy Mackay
21c7ea1df7 Copter: integrate AP_Beacon 2016-11-30 17:56:55 +09:00
Andrew Tridgell
bcea3ac8d4 Copter: handle rangefinder glitches in alt tracking 
this handles glitches from the rangefinder when tracking the
ground. It requires 3 readings in a row to settle on a new target
altitude

thanks to discussions with Leonard and Randy
 2016-11-28 17:36:01 +11:00
Randy Mackay
7485de3498 Copter: add send_proximity to send distances to GCS 2016-11-27 15:05:46 +09:00
Randy Mackay
218c8b2d16 Copter: proximity pre-arm check displays closet object 2016-11-27 15:05:44 +09:00
Peter Barker
e72f5a6240 ArduCopter: enable/disable precision loiter on a switch 
A switch MUST be assigned for precision loiter to be enabled
 2016-11-18 09:41:56 +09:00
Peter Barker
9e4628af58 Copter: precision loiter 2016-11-18 09:41:56 +09:00
Peter Barker
236b8ab6b7 Copter: make EPM a subclass of AP_Gripper_Backend 2016-11-05 10:20:39 +09:00
Peter Barker
920868145c Copter: support for AP_Gripper 2016-11-05 10:20:33 +09:00
Peter Barker
1bb6350a67 Copter: periodically call stats update 2016-10-29 14:53:25 +09:00
Peter Barker
df07cb525a Copter: use AP_Stats to store statistics about vehicle 2016-10-29 14:53:25 +09:00
floaledm
34718b130a Copter: update sensor status error flags independently of sending a sys_status message 
Without this, there is no update to the sensor status flags in the Frsky
lib unless there's an active Mavlink connection configured to send
extended_status1
 2016-10-28 10:03:38 +11:00
Mathieu OTHACEHE
152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
Leonard Hall
fec24437f2 Copter: load accel throttle I term from attitude controller input 
Previously we loaded up the I term from the pilot's input but a more reliable method is to get what was passed into the attitude controller.  In particular the addition of the acro-thr-mid parameter means the pilot's input must be interpreted differently for different flight modes.
 2016-10-15 11:27:53 +09:00
Randy Mackay
a124001b8b Copter: get_pilot_desired_throttle gets thr_mid argument default 2016-10-15 11:27:53 +09:00
Leonard Hall
5c47f3f9e5 Copter: add acro throttle and yaw expo and smoother manual pilot throttle 2016-10-15 11:27:53 +09:00
Randy Mackay
0aab175051 Copter: move proximity to g2 2016-10-14 14:02:29 +09:00
Jonathan Challinger
f2ef8eec8c Copter: use velocity output from AC_PrecLand 2016-10-14 10:46:08 +09:00
Randy Mackay
a07ecfe2b3 Copter: log proximity sensor at 10hz 
This is current in the Copter vehicle code but we can move to the dataflash library when other vehicles start using this type of sensor.  Until then adding it to common will just increase the dependencies unnecessarily for other vehicles.
 2016-10-13 20:21:07 +09:00
Randy Mackay
fcc2a1b378 Copter: integrate AP_Proximity into main vehicle 2016-10-13 20:21:07 +09:00
Randy Mackay
26c3295042 Copter: ignore first ekf core switch 
The ekf core is initialised to -1 but after initialisation changes to zero.  Ignore this first change.
 2016-10-13 15:20:16 +09:00
Randy Mackay
d74ae535d1 Copter: log EKF lane switch 2016-10-10 16:40:08 +09:00
Randy Mackay
35864c6226 Copter: move check_ekf_reset to ekf_check.cpp 
No functional change
 2016-10-10 16:40:08 +09:00
murata
7148cc6239 Copter: Return value is changed to Enum Value. 2016-10-05 08:25:15 -03:00
Andrew Tridgell
f18e0dadc9 Copter: added optional AdvancedFailsafe for copter and heli 2016-08-25 14:14:18 +10:00
floaledm
893614897e Copter: moved MAV_TYPE to Copter.h 2016-08-25 10:16:20 +10:00
Andrew Tridgell
a14ff8ac77 Copter: fixes for Frsky_Telem API changes 2016-08-25 10:16:20 +10:00
floaledm
157db51b9d Copter: make control_sensor vars available outside of send_extended_status1 2016-08-25 10:16:18 +10:00
floaledm
f73fa1fc80 Copter: removed frsky_telemetry_send scheduled task 2016-08-25 10:16:17 +10:00
Peter Barker
f67d247a46 Copter: factor pre-arm checks, continue testing after a failure 
The functional change here is that we continue to run later checks
when a check fails.

The user-visible effect of that is that your GCS will tell you about
all pre-arm failures, not just the first.

This makes things work a little more like Plane, in preparation for
using AP_Arming.
 2016-08-16 11:37:18 -03:00
Andrew Tridgell
3041a75798 Copter: limit attitude on landing using WP_NAVALT_MIN 2016-08-16 11:26:56 +10:00
Randy Mackay
0ed5665193 Copter: change parameter order of guided_set_angle 
I thought it might be slightly better to put the optional parameters at the end
No functional change
 2016-08-10 10:03:54 +09:00
Allan Matthew
6dd4e1a2aa Copter: accept yaw rate commands in Guided atttude controller 2016-08-10 10:03:37 +09:00
Randy Mackay
9842840346 Copter: GND_EFFECT_COMP parameter to enable ground effect compensation 2016-08-09 13:31:36 +09:00
Randy Mackay
728e8f8f56 Copter: land_state uses enum 
This resolves a Covarity warning related to initialisation (that was not really a problem) but it is better form anyway
 2016-08-08 13:31:29 +09:00
Francisco Ferreira
43ad1f372d Copter: change function from computing return altitude to computing return target 
Also fix altitude for rally points
 2016-08-06 13:50:53 +09:00
Francisco Ferreira
e732cda577 Copter: when calculating RTL return alt use rtl_path directly 
At the same time, fix bug: check return point for terrain and not origin twice
 2016-08-06 13:50:50 +09:00
Randy Mackay
c3d71f733c Copter: remove get_takeoff_trigger_throttle 
get_pilot_desired_climbrate can be used instead.
 2016-08-05 12:40:37 +09:00
Randy Mackay
d1e257d5b6 Copter: remove unused get_throttle_pre_takeoff 2016-08-05 12:40:37 +09:00