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Commit Graph

6649 Commits

Author SHA1 Message Date
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
Pierre Kancir
f53892a1fa Copter: don't report initial mode switch as failsafe mode change 2021-01-09 08:28:29 +09:00
Tatsuya Yamaguchi
eab913646e Copter: fix ignore pilot yaw option for guided 2021-01-07 20:40:34 +09:00
Tatsuya Yamaguchi
b6b39673d4 Copter: remove PHLD_BRAKE_* params when PosHold is disabled 2021-01-07 11:41:08 +09:00
murata
5ca7e03eeb Copter: tidy handling of DO_FLIGHT_TERMINATION 2021-01-05 16:48:15 +11:00
murata
44a622ea7f Copter: Set the gravitational acceleration value to the defined value 2021-01-05 09:11:14 +09:00
Tom Pittenger
b80f003c98 Copter: extend Stream rates param count to match MAVLINK_COMM_NUM_BUFFER 2020-12-29 07:52:09 -07:00
bnsgeyer
230ca049c1 Copter: Update 4.0.6-rc1 release notes 2020-12-23 15:02:54 -05:00
bnsgeyer
c75848435e Copter: fix heli land detector and incoporate reset_I_smoothly 2020-12-21 23:33:48 -05:00
bnsgeyer
a845623dfb Copter: Tradheli - make new integrator scheme selectable 2020-12-21 23:33:48 -05:00
bnsgeyer
42b4fd6e0a Copter: change heli integrator management and add hover coll learning 2020-12-21 23:33:48 -05:00
Arsh
3c83eecf78 Copter: AP_Arming: Added check for EKF origin altitude 2020-12-21 20:26:30 +09:00
Pierre Kancir
1e5d9fb299 Copter: set initial mode on startup 2020-12-16 17:27:07 +09:00
Pierre Kancir
be2e243916 Copter: add initial mode parameter 2020-12-16 17:27:07 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
ffa057d61e Copter: prepare 4.0.6-rc1 release notes 2020-12-15 11:21:00 +09:00
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
yaapu
497dbd1414 ArduCopter: added virtual getters for waypopint info 2020-12-10 12:39:44 +11:00
Randy Mackay
dc3ded234b Copter: FS_GCS_ENABLE param desc replaces deprecated with removed 
Also modified FS_THR_ENABLE param desc replaces deprecated with removed
 2020-12-09 19:30:48 +09:00
Randy Mackay
98a41ab005 Copter: FS_OPTIONS defaults to continue pilot controlled modes on GCS failsafe 2020-12-09 19:30:48 +09:00
Randy Mackay
e1aaea0834 Copter: pre-arm check of FS_GCS_ENABLE=2 2020-12-09 19:30:48 +09:00
Andrew Tridgell
cd2f2f96eb rename barometer parameters to BARO prefix 2020-12-08 13:22:17 +11:00
Peter Barker
f4cbc50ba4 Copter: use an enumeration for pre-throw motor state 2020-12-08 12:04:14 +11:00
Peter Barker
bd0dff1b0e Copter: use enum-class and AP_Enum for ThrowType 2020-12-08 12:04:14 +11:00
murata
dcda0c48ca Copter: Support for decacopters 2020-12-08 11:59:10 +11:00
Andrew Tridgell
0329a46b4a ArduCopter: moved init_safety to AP_Vehicle 2020-12-08 11:14:24 +11:00
Peter Barker
dac5aca40e ArduCopter: move logging of LandingGear event into LandingGear 
Less code and Plane will get the event logged too.
 2020-12-05 20:45:20 +11:00
Randy Mackay
b8c58bd900 Copter: payload place fixups 2020-12-05 08:35:03 +09:00
Hwurzburg
e015956b6e Copter: move RETRACT_MOUNT option to common for all vehicles 2020-11-24 20:22:02 +11:00
Brent McLaughlin
04f817020f Copter: use glitch-protected range from rangefinder for precision landing 
use glitch protected result from rangefinder so precision landing avoids aggressive maneuvers due to large range spikes
 2020-11-24 13:00:41 +09:00
Gone4Dirt
434af4a4d4 Copter: Move AP_Generator to AP_Vehicle 2020-11-24 12:54:52 +11:00
Michael du Breuil
f9b4e81702 Copter: Add ignore pilot yaw to guided, auto and RTL options 2020-11-19 07:22:54 +09:00
Michael du Breuil
5e2093b105 Copter: Allow the user to specify the GCS failsafe timeout 2020-11-17 09:24:07 +09:00
Andy Piper
304d05f918 Copter: allow OSD for TX-only screens 2020-11-11 18:13:11 +11:00
Randy Mackay
0f234583d6 Copter: poshold clears wind est when disarmed or landed 2020-11-10 08:56:36 +09:00
Randy Mackay
ed7580e83c Copter: takeoff relaxes wpnav and pos control during spool up 2020-11-06 08:24:03 +09:00
Hwurzburg
83e1fe94d1 Copter: fix metadata in FS_GCS_ENABLE param 2020-11-06 08:23:31 +09:00
murata
f18585c584 Copter: Matches the minimum value of failsafe_throttle_value to the operation 2020-11-03 10:42:29 +09:00
Paul Riseborough
379506b718 ArduCopter: Don't request EKF yaw reset unless innovations are large 
This prevents unwanted resets if GPS fails.
 2020-10-30 14:45:40 +09:00
Rishabh
6e19eac9aa ArduCopter: remove nomination of system ids 2020-10-27 17:15:04 +11:00
Randy Mackay
50d9dcce9b Copter: 4.0.5 release notes 2020-10-27 09:13:43 +09:00
Peter Barker
225de23950 Copter: cope with race conditioning popping points on SmartRTL return 
There is a race with the cleanup thread.  While thin, it only has to
happen once.  After this patch the race would have to happen... a lot.

Co-authored-by: jasclarke308 <jasclarke308@gmail.com>
 2020-10-24 08:59:26 +09:00
Randy Mackay
248d80eb37 Copter: integrate ahrs::get_variances change 
offset is no longer returned
 2020-10-21 08:58:45 +09:00
Randy Mackay
ea7f850738 Copter: guide mode fix for takeoff in attitude control submode 
It was not possible to takeoff when thrust was provided instead of climb rate (which is used depends upon DEV_OPTIONS)
 2020-10-20 23:04:45 +09:00
Randy Mackay
7a90ed4bb5 Copter: auto allows arming casts param to uint32_t 2020-10-20 23:04:45 +09:00
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