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6649 Commits

Author SHA1 Message Date
Randy Mackay 9104b4800f Copter: correct GuidedOptions enum after peer review 
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
 2020-10-20 23:04:45 +09:00
Randy Mackay 29fedff826 Copter: guided implementations moved to match declarations 
this should be a non-functional change
 2020-10-20 23:04:45 +09:00
Randy Mackay 5adf1d9596 Copter: guided mode angle controller sets auto-armed from run method 2020-10-20 23:04:45 +09:00
Randy Mackay c1c9d87efe Copter: move auto allows_arming in mode_auto.cpp 
this should be a non-functional change
 2020-10-20 23:04:45 +09:00
Randy Mackay ab42bbc43f Copter: guided mode velocity control can trigger takeoff 2020-10-20 23:04:45 +09:00
Randy Mackay eb3aca7acf Copter: add GUIDED_OPTIONS to allow arming from transmitter 2020-10-20 23:04:45 +09:00
Randy Mackay 3ebfe502d3 Copter: 4.0.5-rc2 release notes 2020-10-08 09:15:56 +09:00
Randy Mackay 49e1e8cc16 Copter: integrate ahrs.pre_arm_check 2020-10-07 11:53:07 +11:00
Randy Mackay eeaf135cca AP_Arming: integrate ahrs.pre_arm_check 2020-10-07 11:53:07 +11:00
Randy Mackay 1858fbe951 AP_Arming: correct proximity pre-arm check msg 2020-10-06 20:52:29 +11:00
Randy Mackay 5d31a443b6 Copter: update 4.0.5-rc1 release notes 2020-10-06 16:43:13 +09:00
Randy Mackay 8753d3cf8d Copter: 4.0.5-rc1 release notes 2020-10-06 16:43:10 +09:00
Randy Mackay e2d41a3e04 Copter: integrate parachute check_sink_rate 
also move set_is_flying into check parachute to increase it's update rate
 2020-10-06 16:14:59 +11:00
Andrew Tridgell dbf6f6f4b1 Copter: fixed parachute checks for sink rate 
ensure is_flying is set, setup sink rate at the right position, force
disarm if chute releases
 2020-10-06 16:14:59 +11:00
Peter Barker c86ee44264 Copter: correct compilation when AFS enabled 2020-10-06 11:25:09 +11:00
Peter Barker 4136397810 Copter: correct compilation when CIRCLE mode is disabled 2020-10-06 11:25:09 +11:00
Peter Barker af53f9ce64 Copter: correct compilation when AUTO/RTL are disabled 2020-10-06 11:25:09 +11:00
Peter Barker 56790625b8 Copter: stop passing unused inav into autorotate library 2020-10-01 21:13:20 +10:00
Randy Mackay 8b3cc0b255 Copter: fixup auto options 2020-10-01 08:48:06 +09:00
Michael du Breuil 50dfe3f197 Copter: Add AUTO_OPTIONS and support arming and throttle bypass 
This allows you to arm the copter without any extra GCS commands while
in auto, and can be done from both the GCS, or the RC Tx. This is useful
for creating a simpler workflow.

This also allows you to set the auto_armed flag internally, which
bypasses the need to raise the throttle stick for the copter to start a
takeoff.

This exposed a problem where we would start running the controllers
before the EKF was at all initialized, if you switched into auto to
early. This now has a check that prevents us from running the mission
state machine until after the origin has been set. This was a suggestion
from @rmackay9.

When combined these options allow you to have the vehicle on the ground,
disarmed in auto with a takeoff waypoint loaded, then just arm the
aircraft and watch it takeoff. This is a feature we've had on quadplanes
for quite awhile now, and it has proven to be very nice for operators.
 2020-10-01 08:46:29 +09:00
Peter Barker b03b3041e0 Copter: remove stale MAGNETOMETER config option from config files 
This isn't used in the code any more
 2020-09-29 11:17:08 +10:00
Andy Piper e22f7ed353 Copter: remove duplicate include 2020-09-24 08:22:16 -07:00
Patrick José Pereira ec153f59a2 ArduCopter: Use new AP_FWVersionDefine header 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-09-23 20:58:35 +10:00
Tatsuya Yamaguchi 813bc2e08a Copter: replace message indicating that initialisation has completed 2020-09-22 09:52:52 +10:00
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 5a0e8daf61 Copter: fix 4.0.4-rc1 release notes 
GPS-For-Yaw only works with F9 (not M9) GPSs
 2020-09-16 15:43:42 +09:00
Randy Mackay 2c14463368 Copter: 4.0.4 release notes 2020-09-16 13:56:37 +09:00
Randy Mackay 5b71726c73 Copter: poshold wind effect comp limited to 2/3rds of angle max 2020-09-16 08:19:17 +09:00
Randy Mackay ab54f8805a Copter: guided mode checks dest before changing submode 2020-09-15 08:36:39 +09:00
Randy Mackay 29a2be2d63 Copter: minor comment fix 2020-09-09 15:32:37 +09:00
Peter Barker dba3158446 Copter: correct mode change for GCS failsafe in SmartRTL mode 
In the case that you:
 - have previously done a successful SmartRTL flight
 - get a mid-air gcs failsafe and enter SmartRTL
 - recover from that gcs failsafe but remain in SmartRTL
 - get another mid-air failsafe

then without this patch you will enter LAND mode.

When determining our failsafe action, we were looking at whether we
should just continue landing.  To do that, we ask the current mode if we
are landing.  Problem is that SmartRTL was handing back the wrong answer
- it was handing back ModeRTL's answer rather than its own, and
ModeRTL's answer was "yes, I'm landing", as that's the last state that
step 1 in the above list leaves that mode in.

This patch simply hands back the correct answer for, "am I landing"
 2020-09-08 09:05:03 +09:00
Peter Barker 397b95154c Copter: remove superfluous RETURN_TARGET_ALTTYPE_ from enum class names 
Just repeats what's in the required prefix for the enum class
 2020-09-08 10:01:59 +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
Randy Mackay afa810041b Copter: 4.0.4-rc4 release notes 2020-08-28 09:37:59 +09:00
Iampete1 c265a38344 Copter: add gripper release FS_Option 2020-08-26 17:58:24 +09:00
Peter Barker afa153fb6f Copter: remove wrapper for get_avoidance_adjusted_climbrate 
Only the modes are interested in this - there's no point having it on
the Copter object.
 2020-08-22 08:31:25 +09:00
Randy Mackay 315d9da138 Copter: add ekf alt pre-arm and mode init checks 2020-08-20 12:41:40 +09:00
Siddharth Purohit 9b9954aa46 Copter: move to using CANManager library 2020-08-19 17:31:09 +10:00
Peter Barker 38122eb35e ArduCopter: use an enumeration for the AP_Avoidance recovery action 2020-08-19 11:38:19 +10:00
Hwurzburg 8484e8271f Copter: fix init of RC option 52 2020-08-18 18:55:29 +10:00
Hwurzburg 08e89b0b96 Copter: Add RC option for ACRO mode in Copter 2020-08-18 12:22:46 +09:00
Peter Barker 76e5ae9b41 Copter: move mavlink set-position defines into mavlink library 2020-08-11 09:52:52 +09:00
Randy Mackay 9e06b78fda Copter: minor formatting fix 2020-08-10 09:34:28 +09:00
Josh Welsh de9e9b90e5 Copter: Tradheli servo_test fix 2020-08-10 09:16:44 +09:00
Peter Barker 66e0afedb2 Copter: correct motor test order parameter description 2020-08-10 09:18:05 +10:00
Michael du Breuil 376494027b Copter: Support higher resolution percent based motor tests 2020-08-09 13:47:48 +10:00
Randy Mackay 48d27e1016 Copter: fixup winch comment 2020-08-07 21:55:07 +09:00
Randy Mackay 09bf76d9a4 RC_Channel: correct winch switch comment 2020-08-07 21:55:07 +09:00
Randy Mackay a2224f066a Copter: winch enabled with hal-minimize-features 2020-08-07 21:55:07 +09:00
Randy Mackay 54b714a24e Copter: implement send_winch_status 2020-08-07 21:55:07 +09:00
Randy Mackay f607ff28b3 Copter: integrate winch arming checks 2020-08-07 21:55:07 +09:00
Randy Mackay 925f76c048 Copter: integrate winch changes 
includes the following changes
winch_update called at 50hz
removed ability to set winch rate from ch6 tuning
remove wheel encoder
call winch library to log at 10hz
fix winch param prefix
 2020-08-07 21:55:07 +09:00
Randy Mackay 6ea3c2a091 Copter: compile fix for winch 2020-08-07 21:55:07 +09:00
Peter Barker d87986ecdd Copter: move set_throttle_takeoff implementation into Mode 
No callers except the mode objects, so move it.
 2020-08-05 08:23:03 +09:00
Mark Whitehorn 8325de0845 Copter: default RC_OPTIONS to 0 for tradheli 2020-08-04 10:26:45 +10:00
Andy Piper 54c3d07547 Copter: make make/gimbal configurable on a per-board basis 2020-08-04 09:18:14 +10:00
Dr.-Ing. Amilcar do Carmo Lucas 5fad6ddddb Copter: fix typos in PL dataflash logs field description text 2020-08-04 08:14:29 +09:00
Dr.-Ing. Amilcar do Carmo Lucas be963bbdf9 Copter: fix units and multipliers in PL dataflash logs message 2020-08-04 08:14:29 +09:00
Randy Mackay 30c8d7bf40 Copter: dev option so set-attitude-target thrust field used as thrust 2020-08-01 08:32:23 +09:00
Randy Mackay 3c9a16d8a7 Copter: 4.0.4-rc3 release notes 2020-07-30 09:40:46 +09:00
Peter Barker 73526c0256 Copter: pass reason through in set_mode AP_Vehicle override 
Other vehicles seem to do this correctly.
 2020-07-28 09:10:38 +09:00
Peter Barker ac6cf1132c Copter: add documentation for DU16 message 2020-07-24 09:37:28 +09:00
Leonard Hall de8439dc3a Copter: crash check reqs 15deg lean and under 10m/s 
pair programmed with rmackay9@yahoo.com
 2020-07-20 12:49:53 +09:00
Michael du Breuil 08f8a41ecb Copter: Support DO_LAND_START as an adhoc MAVLink command 2020-07-17 09:15:05 +09:00
Mirko Denecke 89d423556c ArduCopter: update_trigger() is now called in AP_Camera update() 2020-07-15 08:37:28 +09:00
Andy Piper 12c9578a66 Copter: add in additional acro options 
Air-mode for multicopters
Rate only for multicopters and trad-heli
if air-mode aux switch is toggled in acro do not reset air-mode on exit
 2020-07-14 15:54:24 +09:00
murata a783763f5a Copter: Crash origin to crash message 
Copter: Crash origin to crash message
 2020-07-11 08:35:29 +09:00
murata c9990cdecc Copter: Change Need 3D Fix message. 2020-07-11 08:33:55 +09:00
Michael du Breuil c971fe0ca4 Copter: Support MAV_CMD_DO_REPOSITION on COMMAND_INT 2020-07-07 10:34:19 +10:00
Peter Barker b64a34fc38 Copter: add GENERATOR_STATUS to STREAM3 2020-07-03 08:21:42 +09:00
Peter Barker a679cd9b92 Copter: add support for AP_Generator 2020-07-03 08:21:42 +09:00
Randy Mackay dfbb357aaf Copter: minor formatting fix 2020-06-24 21:26:30 +09:00
Randy Mackay 0f6e2b6960 Copter: fix GUID message scaling for pos and velocity 2020-06-24 21:26:30 +09:00
Randy Mackay ac21becb6a Copter: simplified update of ekf terrain height stable setting 2020-06-24 21:16:50 +09:00
Randy Mackay 980c1f5020 Copter: update ekf terrain height stable setting 
setting is true only when taking off or landing and horizontal speed is no more than 0.5m/s
 2020-06-24 21:16:50 +09:00
Andy Piper 25dcc1a623 Copter: add support for individually tracking fft peaks and motor rpms with harmonic notches 
log harmonic notch even if FFT is disabled. Fallback to throttle notch for BLHeli
move harmonic notch update to AP_Vehicle
 2020-06-21 19:09:35 +10:00
Iampete1 e797685771 Copter: add set guided mode angle for scripting 2020-06-19 10:09:35 +10:00
Andy Piper 8d2f2443a2 Copter: add air mode aux function 2020-06-16 20:30:26 +10:00
Peter Barker 0eb03ba7d5 Copter: make SuperSimple type-safe 2020-06-16 19:39:42 +10:00
Randy Mackay d35643a372 Copter: 4.0.4-rc2 release notes 2020-06-16 14:17:12 +09:00
Peter Barker a629e91f30 ArduCopter: rename 'enum aux_switch_pos_t' to 'enum class AuxSwitchPos' 2020-06-12 08:11:46 +10:00
Andrew Tridgell 2cd5519d5d Copter: rename 2D rotation functions 
drop the rotate prefix
 2020-06-04 09:49:52 +10:00
Tatsuya Yamaguchi cde7ae246e Copter: add ZIGZ_AUTO_ENABLE parameter 2020-06-03 15:21:21 +09:00
Tatsuya Yamaguchi 78fd5fac04 Copter: allow to resume in ZigZag Auto 2020-06-03 15:21:21 +09:00
Tatsuya Yamaguchi cee7e94ebc Copter: add zigzag_line_num parameter 2020-06-03 15:21:21 +09:00
Tatsuya Yamaguchi 7bc528097d Copter: support zigzag auto feature 2020-06-03 15:21:21 +09:00
Tatsuya Yamaguchi 60fb275501 Copter: rename zigzag_auto_pump to zigzag_sprayer 2020-06-03 15:21:21 +09:00
Tatsuya Yamaguchi 63002111eb Copter: add ZIGZAG_WP_DELAY parameter 2020-06-03 15:21:21 +09:00
murata 923237ffd3 Copter: Enumerate A and B points of ZigZag 2020-06-03 15:21:21 +09:00
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