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104 Commits

Author SHA1 Message Date
Pierre Kancir f2b952eda0 Copter: fix takeoff end report on EXTEND_STATE 
regression from https://github.com/ArduPilot/ardupilot/pull/18700.
thanks to @arduouspilot on discuss to notice this, see https://discuss.ardupilot.org/t/extended-sys-state-never-changes-once-guided-takeoff-is-started/76996/3
 2021-10-17 19:03:42 -04:00
Randy Mackay 541cdbef3e Copter: guided mode remains in takeoff submode longer 2021-09-28 06:48:17 +09:00
Randy Mackay 9ee28542da Copter: guided supports using wpnav to reach position targets 2021-09-15 16:02:02 +09:00
Randy Mackay f201ef57ff Copter: remove unused set_desired_velocity_with_accel_and_fence_limits 2021-09-15 16:02:02 +09:00
Randy Mackay fc3978d04d Copter: comment fixup for GUIDED_OPTIONS accessors 2021-09-15 16:02:02 +09:00
Andrew Tridgell 291479c277 Copter: no need to fabs() get_default_speed_down() as it does fabs already 2021-09-10 14:07:37 +09:00
Randy Mackay 05ac549155 Copter: terrain spelling fix 2021-09-10 14:07:37 +09:00
Leonard Hall 67bbbcfa58 Copter: Separate landing and terrain following. 2021-09-10 14:07:37 +09:00
Randy Mackay 24542c293a Copter: fix ModeGuided::set_destination_posvel 2021-08-28 14:41:27 +09:00
bnsgeyer 2361707133 Copter: Allow Tradheli to spoolup in guided or auto mode 2021-08-28 14:41:27 +09:00
Leonard Hall 8f747e297b Copter: support Control: Refactor to use Jerk 2021-08-14 10:44:08 +09:00
Leonard Hall 7525b7b997 Copter: Guided: Add terrain following initialization. 2021-08-14 10:44:08 +09:00
Josh Henderson a44763c47b ArduCopter: guided auto_yaw_angle_rate timeout 2021-08-14 10:44:08 +09:00
Leonard Hall 0211676b90 Copter: Guided and Loiter mode returns Crosstrack error 2021-07-22 19:07:36 +09:00
Andrew Tridgell c737e0cc47 Copter: replace use of TERRAIN_MARGIN with WPNAV_TER_MARGIN 
# Conflicts:
#	ArduCopter/Parameters.cpp
#	ArduCopter/Parameters.h
#	ArduCopter/terrain.cpp
 2021-07-22 19:07:36 +09:00
Randy Mackay 17b4f5914c Copter: add TERRAIN_MARGIN parameter 2021-07-22 19:07:36 +09:00
Randy Mackay e78fcb834e Copter: add GUID_TIMEOUT for guided mode vel, accel and angle control 2021-07-22 19:07:36 +09:00
Leonard Hall 7ec82a49bc Copter: Guided: move to zero velocity after takeoff 2021-07-22 19:07:36 +09:00
Leonard Hall 8755c59345 Copter: Guided Angle init Z controller on time out 2021-07-22 19:07:36 +09:00
Leonard Hall be079bfc9c Copter: additional yaw modes and fixes 2021-07-22 19:07:36 +09:00
Leonard Hall c6e932c9cf Copter: Guided: use default yaw mode for all gps based sub modes. 2021-07-22 19:07:36 +09:00
Leonard Hall 62cb516a6c Copter: Guided: make aircraft stop on accel time out 2021-07-22 19:07:36 +09:00
Leonard Hall 97a3e46536 Copter: Guided add terrain failsafe 2021-07-22 19:07:36 +09:00
Leonard Hall 2e7fd086f3 Copter: Guided: support terrain following 2021-07-22 19:07:36 +09:00
Leonard Hall 61f10c827f Copter: Guided: fix waypoint track reporting 2021-07-22 19:07:36 +09:00
Leonard Hall 92dc499053 Copter: seperate kinimatic shaping from pid limit setting 2021-07-22 19:07:36 +09:00
Leonard Hall ebe694b606 Copter: Guided: use common initialisation 2021-07-22 19:07:36 +09:00
Leonard Hall 9f1cf90160 Copter: Guided prevent takeoff without takeoff command. 2021-07-22 19:07:36 +09:00
Randy Mackay 1ad6b2e6c7 Copter: guided accepts terrain alt position targets 2021-07-22 19:07:36 +09:00
Leonard Hall a57102b161 Copter: support for acceleration-based AttitudeControl 2021-07-22 19:07:36 +09:00
Andrew Tridgell bada2670a6 Copter: update for new double precision position APIs 2021-06-24 21:34:30 +10:00
Andrew Tridgell d89388c4cc Copter: use cleaned up APIs 2021-06-24 20:28:45 +10:00
Leonard Hall e294991b08 Copter: Fix before squash 2021-05-24 20:13:37 +10:00
Leonard Hall 4bae8f03a4 Copter: Use PosControl fixes 2021-05-24 20:13:37 +10:00
Leonard Hall 726074be91 Copter: Support Thrust Vector based navigation 2021-04-27 17:13:55 +09:00
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 5df8dd8c50 Copter: move guided submode enumeration into ModeGuided 2021-04-14 16:12:57 +09:00
Leonard Hall a29e2d8920 Copter: fix references to position error 2021-04-03 12:07:59 +09:00
Leonard Hall 328c0655e3 Copter: support for SCurves and position controller changes 
wp_start provides next_dest_loc
send next_destination to wp_nav instead of setting fast_waypoint
fixup zigzag for S-curve changes
fixup guided
auto spline fixes
smart rtl rename of next_point to dest_NED
loc_from_cmd accepts default location
auto mode stops before starting land command
auto do_next_wp accepts default location
rename do_next_wp to set_next_wp
also rename get_spline_from_cmd argument
also improve failure to set next waypoint due to missing terrain data
also fixup comment in set_next_wp
also auto stops when moving from straight to spline segments
also auto mode spline fix
also auto mode calls AC_WPNav::set_spline_destination_next

Copter: AutoYaw provides rate from WPNav
 2021-04-03 12:07:59 +09:00
Peter Barker d387ad9921 Copter: have allows_arming take a AP_Arming::Method rather than bool from_gcs 
This API predates us having the arming methods being passed around.

This makes the calls look like Plane
 2021-03-30 09:00:26 +09:00
Josh Henderson f65c4df358 ArduCopter: make Location(Vector3f) require ALTFRAME 2021-03-30 08:56:35 +09:00
Tatsuya Yamaguchi ed8384b45a Copter: add option to disable LANDING_GEAR 2021-03-17 10:41:11 +09:00
chobits b7c937592e Copter: send mission_item_reached in guided 2021-03-09 10:04:24 +09:00
James O'Shannessy d055d7a581 ArduCopter: Cleanup - removes autoenabling of fence with AC_Fence parameter 2021-03-05 14:52:46 +11:00
James O'Shannessy a88f2721a8 ArduCopter: Use auto enable and auto disable from AC_Fence 2021-03-05 14:52:46 +11:00
James O'Shannessy f228adfa75 ArduCopter: Improve auto-enable/disable of fence 2021-03-05 14:52:46 +11:00
Mathias Bos b3b7f2d3d2 Copter: Remove yaw rate wrapping in guided mode. 2021-03-03 08:09:08 +09:00
Rishabh bd37eab3af Copter: Support 3D Simple Avoidance 2021-02-01 14:34:13 +09:00
Tatsuya Yamaguchi eab913646e Copter: fix ignore pilot yaw option for guided 2021-01-07 20:40:34 +09:00
Michael du Breuil f9b4e81702 Copter: Add ignore pilot yaw to guided, auto and RTL options 2020-11-19 07:22:54 +09:00