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601 Commits

Author SHA1 Message Date
Peter Barker e922d7e3bd ArduCopter: accept mount commands as command_int 2023-08-24 22:07:12 +10:00
Peter Barker 57eeda0439 ArduCopter: pass mavlink_message_t to handle_command_*_packet 
the "special case" blocks are getting longer and longer.  Merge the switch statements for the command type to be handled by passing around the message.
 2023-08-22 10:11:33 +10:00
Peter Barker 3fd0886574 Copter: rely on magic COMMAND_INT transform for MAV_CMD_DO_PAUSE_CONTINUE 2023-08-09 07:44:44 +10:00
Peter Barker d41e677c08 Copter: correct return error return codes for DO_FOLLOW 
in the case it wasn't compiled in the return code would be correct.

in the case that the parameter was invalid we would return UNSUPPORTED , which is wrong, it should be DENIED
 2023-08-01 10:43:34 +10:00
Peter Barker a79a8ca659 ArduCopter: rely on conversion from long to int for DO_FOLLOW 
we have code which tries to handle commands coming in as command long as command int.

Change to rely on that code working, rather than handling both command-long and command-int variants
 2023-08-01 10:43:34 +10:00
Andrew Tridgell ab07a2ecf3 Copter: moved MAV_CMD_AIRFRAME_CONFIGURATION to common code 2023-06-21 17:38:28 +10:00
Peter Barker 078debb893 ArduCopter: use enum class for mount type 2023-05-25 09:54:43 +10:00
Peter Barker aa5a882de8 Copter: protect against bad vels/accels being sent through in guided mode 2023-05-25 09:42:28 +10:00
Randy Mackay dec9584e5e Copter: handle_command_mount override accepts msg 
mavlink msg required to extra caller's sysid/compid
 2023-05-17 12:38:49 +10:00
Peter Barker f33e5e7847 ArduCopter: allow Copter to emit MISSION_STATE_PAUSED when paused in auto 2023-04-21 09:49:55 +10:00
tzarjakob 97b7e8d1d0 ArduCopter: configuration of Precision Landing for custom build server 2023-03-27 09:04:07 +11:00
Peter Barker ade654b251 Copter: use AP_WINCH_ENABLED in place of WINCH_ENABLED 2023-03-03 20:59:06 +11:00
Peter Barker 9e00b8eeac ArduCopter: add support for mavlink in-progress message 2023-02-21 17:07:41 +11:00
Peter Barker 1f13fd35e3 ArduCopter: avoid using struct Location 
clang reports this could be a problem when compiling under some EABIs.  Remove it from most places as it is just noise, replace with class where we want to avoid including Location.h
 2023-02-04 22:51:54 +11:00
Andrew Tridgell 8cabcfc750 Copter: allow for flight mode UI when FRAME_CLASS=0 
this makes the user experience of a first time install nicer for
copters/helis. At the moment the user finds the GCS is not functional,
for example flight mode drop-downs don't display. This can be
confusing as the user doesn't know about the link between displaying
flight modes and the FRAME_CLASS
 2023-01-17 09:40:12 +09:00
Tatsuya Yamaguchi da73b419ab Copter: fix compilation when GUIDED, AUTO and CIRCLE modes are disabled 2022-12-22 13:37:28 +09:00
Peter Barker c32a11f37a ArduCopter: make and use AP_LANDINGGEAR_ENABLED 2022-12-14 18:30:23 +11:00
chobitsfan b7e0b1ad38 Copter: explain msgs handling in packetReceived 2022-12-01 08:00:13 +09:00
Peter Barker c5a3dfaa57 ArduCopter: factor out handle_manual_control_axes 2022-11-23 19:33:46 +11:00
Andrew Tridgell 5ba9b873b1 Copter: enable send of EFI_STATUS 2022-10-25 11:44:45 +11:00
Henry Wurzburg ca80961a92 ArduCopter: update SRX descriptions 2022-10-19 23:26:45 +11:00
Peter Barker 76cb127067 ArduCopter: stop sending BATTERY2 by default 2022-10-18 11:12:49 +11:00
Peter Barker 410bd30f04 ArduCopter: do not send MSG_RPM if RPM not enabled 2022-09-28 20:10:21 +10:00
Peter Barker 0827ec0aaa ArduCopter: populate sysid/compid in reboot ACK 2022-09-14 20:16:38 +10:00
Michael du Breuil 5c73cd581f Copter: Don't send HWSTATUS by default 2022-09-13 14:27:06 +10:00
Randy Mackay 38665a7935 Copter: fix do-mount-control yaw scaling 2022-09-06 10:17:34 +10:00
Randy Mackay 33d214589f Copter: replace send-mount-status with send-gimbal-device-attitude-status 2022-08-15 20:29:25 -04:00
Leonard Hall 7dd196c7ea Guided Mode support MAV_CMD_DO_CHANGE_SPEED 2022-08-02 10:26:58 +10:00
Peter Barker 3480a8f9f9 ArduCopter: save some bytes by removing empty methods based on #ifs 2022-07-22 13:49:51 +10:00
Iampete1 cbaea15c96 Copter: add AIS to ADSB stream rate 2022-07-12 09:39:54 +10:00
Randy Mackay 7247bc50e5 Copter: remove unused MSG_GIMBAL_REPORT 2022-06-07 09:27:47 +10:00
Andrew Tridgell 705ec9040c Copter: allow VTOL_TAKEOFF and VTOL_LAND as synonyms 
this allows is_takeoff_next() to be in common, and reduces confusion
if user selects VTOL_TAKEOFF in a GCS mission editor
 2022-05-18 06:43:16 +10:00
Peter Barker fdb971fc0b Copter: remove duplicate logging of mavlink parachute enable/disable 2022-05-10 08:47:11 +09:00
Peter Barker c789755372 ArduCopter: remove handling of MAVLINK_MSG_ID_SET_HOME_POSITION 
We decided to remove this after 4.2 was out in favour of
MAV_CMD_DO_SET_HOME which has been available since 2015.

The gcs-maintainers list was notified in Feburary.
 2022-05-10 09:46:22 +10:00
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 df6efc37ac ArduCopter: split AP_HAL_SITL and AP_SIM_ENABLED 2022-03-17 14:39:55 +11:00
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
m f0e1b3eb9f Copter: Pause/Continue in AUTO and GUIDED modes with SCurves 2022-03-08 13:12:36 +09:00
Leonard Hall 18696e923e Copter: WP Pause support 2022-03-08 13:12:36 +09:00
Peter Barker c80cd1daa5 ArduCopter: add RebootRequred to stream rate parameters 2022-03-01 11:01:12 +11:00
Peter Barker 019d45524f ArduCopter: send deprecated message warning for MAVLINK_MSG_ID_SET_HOME_POSITION 2022-02-10 12:13:43 +11:00
Peter Barker 7fd3402e88 ArduCopter: create and use location_from_command_t 2022-02-09 09:15:11 +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
Peter Barker ee46b876cb Copter: fix compilation when ModeAuto is disabled 2022-01-29 08:24:27 +09:00
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
Joshua Henderson 1ad9e86d98 Copter: set_attitude_target do not accept ill-defined quaternion 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
Josh Henderson 01583e96fa ArduCopter: guided force_set restriction only for accel commands 2021-12-14 09:04:16 +09:00
Josh Henderson 3107c42fca Copter: INAV rename for neu & cm/cms 2021-11-30 10:08:07 +11:00
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
Tom Pittenger e7c31dab9c Copter: move ADSB mavlink handling from vehicles to common library 2021-10-14 19:55:27 -07:00
Josh Henderson 483d308781 Copter: GCSMavlink Guided inputs check force_set and reject 2021-10-11 19:52:15 -04:00
Josh Henderson 3d25eedeb2 Copter: GCS_Mavlink set_position_target_global_int() remove yaw_relative 2021-09-21 09:44:43 +09:00
Randy Mackay e0dd294806 Copter: guided supports using wpnav to reach position targets 2021-09-13 07:49:16 +09:00
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
Andrew Tridgell 4de4db2aac Copter: added MCU_STATUS message 2021-08-25 07:11:31 +10:00
Andrew Tridgell dabdf69e56 Copter: added slew rate and Dmod for PID_TUNING message 2021-08-19 12:08:54 +10:00
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
Josh Henderson daf73e7174 ArduCopter: remove POSITION_TARGET_TYPEMASK_FORCE_SET 2021-08-03 12:48:38 +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
Leonard Hall a3c31f7ba1 Copter: Fix guided yaw bug. 2021-07-20 15:25:17 +09:00
Peter Barker 3684741517 ArduCopter: remove AC_TERRAIN compilation option 
Use AP_TERRAIN_AVAILABLE instead
 2021-07-12 17:34:44 +10:00
Leonard Hall feae762e64 Copter: additional yaw modes and fixes 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 8da8af973b Copter: Guided close gap between TARGET_LOCAL_NED and TARGET_GLOBAL_INT 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
Peter Barker c2c013964d ArduCopter: tidy frame description strings 
Before: AP: Frame: TRI/
After: AP: Frame: TRI
 2021-06-21 16:30:37 +10:00
Peter Barker cdbf6d216e ArduCopter: remove HIL support 2021-06-15 09:47:31 +10:00
Leonard Hall 4bae8f03a4 Copter: Use PosControl fixes 2021-05-24 20:13:37 +10:00
Pierre Kancir e0d181a793 Copter: use MAVLink POSITION_TARGET_TYPEMASK 2021-05-11 09:53:50 +10:00
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
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
Andrew Tridgell 5a869174e5 Copter: use handle_landing_target() for precland 
allows for jitter correction
 2021-04-13 17:30:19 +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
Tatsuya Yamaguchi 0cce5699b2 Copter: change from control_mode to flightmode 2021-03-23 22:48:20 +11:00
Randy Mackay 2d9c6867f4 Copter: accept MISSION_START commands when vehicle is disarmed 2021-03-23 10:12:08 +09:00
Tatsuya Yamaguchi ed8384b45a Copter: add option to disable LANDING_GEAR 2021-03-17 10:41:11 +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
Tom Pittenger 38fd43ac2c Copter: change SRx_ docs value 1 50 2021-03-03 18:17:22 +11:00
Hwurzburg 7d7a7a365d Copter: correct metadata for do_change_speed cmd 2021-02-24 16:06:41 +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
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
Iampete1 0a23084d43 Copter: move get_frame_mav_type to motors 2021-01-26 11:07:36 +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
murata 5ca7e03eeb Copter: tidy handling of DO_FLIGHT_TERMINATION 2021-01-05 16:48:15 +11:00
Andrew Tridgell abd3ae8f3b Copter: added mavlink reporting of airspeed and wind 
when we have EKF3 estimation available
 2020-12-11 15:21:41 +11:00
Peter Barker af53f9ce64 Copter: correct compilation when AUTO/RTL are disabled 2020-10-06 11:25:09 +11:00
Andy Piper b8f613c965 Copter: rename ADSB_ENABLED to HAL_ADSB_ENABLED and remove from config 2020-09-22 09:33:51 +10:00
Randy Mackay 2398b5dec4 Copter: guided consumes set-pos-target-local-ned Z-axis as offset from origin 2020-09-01 10:27:18 +10:00
Peter Barker 76e5ae9b41 Copter: move mavlink set-position defines into mavlink library 2020-08-11 09:52:52 +09:00