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612 Commits

Author SHA1 Message Date
Peter Barker
cf45108efb Copter: set Heli frame default at compile-time 2019-07-04 10:05:01 +09:00
Peter Barker
bb3d2a0b37 Copter: pass GCS_MAVLink object rather than channel number in motortest 2019-07-02 10:04:56 +10:00
Peter Barker
f3c1791341 Copter: stop passing gcs chan into method which wants an object 2019-06-25 09:45:54 +10:00
Michael du Breuil
df37a3d603 Copter: Remove wrapper around MAVLink send heartbeat 2019-06-18 13:59:52 +01:00
Peter Barker
676d75c391 Copter: correct namespacing of Copter modes 
This makes us look like Rover and Plane in terms of namespacing for the
Mode classes, and removes a wart where we #include mode.h in the middle
of the Mode class.

This was done mechanically for the most part.

I've had to remove the convenience reference for ap as part of this.
 2019-06-11 09:18:22 +09:00
Peter Barker
9f6b48b743 Copter: remove unneeded initialisation 2019-06-03 16:48:38 +09:00
Peter Barker
6dce39cbe1 Copter: use AP_Arming methods to arm and disarm vehicle 
Really just changing the namespace of init_arm_motors
 2019-05-30 07:37:30 +09:00
Peter Barker
3ef84d2b96 Copter: stop passing references to AC_Avoid constructor 2019-05-22 07:48:02 -06:00
Randy Mackay
01909cf4c8 Copter: zigzag mode gets terrain following support 2019-04-19 07:45:52 +09:00
Randy Mackay
89eb876faf Copter: move surface tracking variables into structure 2019-04-19 07:45:52 +09:00
Randy Mackay
33a57361bd Copter: reduce args passed to get_surface_tracking_climb_rate 
The same arguments are always passed in
 2019-04-19 07:45:52 +09:00
Pierre Kancir
4f29d2e5a6 Copter: factorize esc calibration setup 2019-04-09 08:44:46 +09:00
Randy Mackay
a5bdd12bfa Copter: replace TUNE_LOW/HIGH params with TUNE_MIN/MAX 
change from uint16 to floats to ease setup
also add check that no function assigned to rc6
 2019-04-08 15:24:00 +09:00
bnsgeyer
d949c80d54 Copter: tradheli replaces rotor_runup_complete with spool state 2019-04-08 09:42:21 +09:00
Michael du Breuil
d1246f5868 Copter: Fix RangeFinder init 2019-04-06 09:15:22 +11:00
Michael du Breuil
0e8c3dc485 Copter: include FWversion 2019-04-05 20:12:53 +11:00
Peter Barker
2040580ce7 Copter: move enabled parameter into compass library 2019-04-02 10:24:49 +11:00
Tom Pittenger
7824b64ad6 Copter: rename dataflash to logger 2019-03-28 16:40:57 +11:00
Peter Barker
8441542a52 Copter: remove climb_rate cache of inertial_nav.get_velocity_z 
There were only two users of it and dozens of places using
get_velocity_z
 2019-03-28 12:10:31 +11:00
Peter Barker
c7e21d95ef Copter: move Log_Write_Error into library 2019-03-27 12:36:40 +11:00
Peter Barker
34d9ce27af Copter: make get_pilot_desired_throttle a method on Mode 2019-03-26 20:57:15 +11:00
Patrick José Pereira
33764d6c3b Copter: Fix typo 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2019-03-26 15:39:23 +11:00
bnsgeyer
2fc942ac24 Copter: tradheli-convert swash parameters on firmware upgrade 2019-03-20 10:40:20 +10:00
Peter Barker
451f5f17ce Copter: move devo telemetry handling to GCS 2019-03-19 14:39:14 +11:00
Peter Barker
e22b29bce4 Copter: FrSky support has moved to GCS 2019-03-19 14:39:14 +11:00
Peter Barker
85d9dd6f64 Copter: move sending of RPM message up 2019-03-16 10:33:01 +09:00
Peter Barker
f189860162 Copter: use enum class for ArmingMethod and ArmingRequired 2019-03-12 19:48:14 +11:00
Peter Barker
4f69eefd4a Copter: remove unused includes 2019-03-05 13:19:29 +09:00
Michael du Breuil
cac4b91671 Copter: Allow scripting to run 2019-03-05 08:45:54 +11:00
IamPete1
ba3d1bc6c7 Copter: move E-stop state to SRV_Channel 2019-02-27 08:51:24 +09:00
Peter Barker
a48f461158 Copter: remove position-vector methods 
Both were used in just one place
 2019-02-26 14:09:21 +11:00
Peter Barker
4187243e5c Copter: Rally no longer takes ahrs in constructor 2019-02-20 18:03:38 +11:00
Peter Barker
5ff80e06d1 Copter: move update_sensor_status_flags into GCS subclasses 2019-02-19 14:09:59 +11:00
Peter Barker
f759c7ac7e Copter: GCS_MAVLink takes care of mavlink capabilities 2019-02-19 13:14:52 +11:00
Peter Barker
9bc23d3f28 Copter: move try_send_message of nav_controller_output up 2019-02-19 10:08:00 +11:00
Peter Barker
f64ad2f433 Copter: move visual odometry update function into AP_VisualOdom 2019-02-16 15:13:59 +11:00
Peter Barker
31f796f0c5 Copter: remove unused scaleLongDown member 2019-02-15 11:45:13 +09:00
Peter Barker
5ae52038fa Copter: make setting of home boolean in preparation for sanity checks 2019-02-15 08:28:45 +11:00
Peter Barker
8de7f4a520 Copter: devo telemetry no long requires singleton classes to be passed in 2019-02-13 19:24:07 +00:00
Peter Barker
a0189d6060 Copter: AP_Frsky_Telem uses singletons 2019-02-12 17:53:23 +00:00
Peter Barker
587e02e92e Copter: remove pv_ functions that duplicate Location functions 2019-02-06 11:02:50 +09:00
Peter Barker
7197cf9e5c Copter: move sending of sys_status message up 2019-02-05 11:07:39 +11:00
Peter Barker
3521d98b52 Copter: move handling Write_Event into AP_Logger 2019-02-04 09:30:07 +09:00
Peter Barker
1412921561 Copter: move sending of fence_status message up 2019-01-31 13:44:29 +09:00
Peter Barker
5dc743f1ba Copter: fence no longer takes reference to ahrs in constructor 2019-01-31 11:25:38 +09:00
Peter Barker
b47733142f GLOBAL: rename DataFlash_Class to AP_Logger 2019-01-18 18:08:20 +11:00
Peter Barker
845f015648 Copter: adjust for Location_Class and Location unification 2019-01-16 11:45:29 +11:00
Randy Mackay
50c5ad7076 Copter: TradHelis force spool up before takeoff 2019-01-15 11:41:44 +09:00
Peter Barker
f50418f72a Copter: Terrain uses rally singleton 2019-01-09 10:14:16 +11:00
Michael du Breuil
ec8a82e8a0 Copter: Remove unneeded AP_Buffer include 2018-12-31 11:41:43 +09:00
Andrew Tridgell
89d54767b1 Copter: convert to use AC_AutoTune library 
this maintains existing behaviour
 2018-12-18 10:34:42 +09:00
Francisco Ferreira
a2fa63bcf7 Copter: fix Cygwin build 
Static initialization doesn't have an exact order, we can't rely on it
 2018-12-13 09:28:44 +09:00
Peter Barker
75fb9780f7 Copter: rename send_extended_status1 to send_sys_status 2018-12-10 12:52:41 +09:00
murata
b252eae404 Copter: Flip mode is an option. 
Copter: Flip mode is an option.
 2018-11-26 09:29:47 +09:00
Peter Barker
d49431488e Copter: remove pointless wrappers around RC_Channels functions 2018-11-23 10:56:17 +11:00
Peter Barker
ee5339f931 Copter: remove pointless wrappers around gcs functions 2018-11-23 10:56:17 +11:00
Peter Barker
33ca577653 Copter: OpticalFlow takes care of its own logging 2018-11-13 10:40:23 +11:00
Peter Barker
ee456e8870 Copter: do not pass ahrs to opticalflow constructor 2018-11-13 10:40:23 +11:00
Andrew Tridgell
2f79932611 Copter: auto-convert landing gear PWM parameters 2018-11-10 21:24:19 +11:00
Peter Barker
73940df48e Copter: move mission into mode_auto 2018-11-09 13:35:40 +09:00
Peter Barker
bf1c82ffe1 Copter: don't pass ahrs to terrain constructor 2018-11-08 20:59:45 +11:00
Peter Barker
f598cff99c Copter: stop passing ahrs to Mission constructor 2018-11-08 10:01:16 +09:00
Peter Barker
1d322046b0 Copter: tidy up send_pid_tuning 2018-11-06 08:19:15 +09:00
Peter Barker
859f4828a1 Copter: move handling of gimbal messages up 
Copter: move handling of mav_cmd_do_mount_control up

Copter: move handling of deprecated mount messages up

Copter: move handling of command_do_set_roi up

Copter: move handling of command_do_set_roi up

Copter: mount no longer takes ahrs in constructor
 2018-10-30 17:19:14 +11:00
Leonard Hall
54a59f581f Copter: add motor thrust lost check 2018-10-16 00:44:50 +09:00
Peter Barker
26ca75efae Copter: make libraries get EKF control limits themselves 2018-10-09 10:47:38 +11:00
CAO MUQING
71beab7502 Copter: create and update Zigzag flight mode 2018-10-05 10:05:45 +09:00
Peter Barker
a30cdf6806 Copter: eliminate failsafe.rc_override_active 
Use RC_Channels::has_active_overrides() instead
 2018-09-05 11:54:32 +10:00
Peter Barker
ec6c59faa3 Copter: move handling of disable-gcs-rc-overrides-channel-option up 2018-09-05 11:54:32 +10:00
SergeyBokhantsev
af6303c82b Copter: User parameters implementation 2018-08-31 08:42:03 +09:00
Randy Mackay
920300899e Copter: rename gcs_check_input to gcs_update 
this makes the names consistent with Rover and Plane
 2018-08-24 15:30:50 +09:00
Peter Barker
09d8a33aaf Copter: stop passing ahrs to PrecLand constructor 2018-08-17 21:14:57 +09:00
Alexander Malishev
f5c540a127 Copter: publish navigation info to OSD 2018-08-16 10:26:34 +10:00
Randy Mackay
346e9e36db Copter: remove compass accumulate 2018-08-06 11:05:34 +10:00
Peter Barker
e7e56dde7a Copter: move handling of RC switches into RC_Channel 2018-08-01 12:11:30 +09:00
Peter Barker
22f7f29045 Copter: move all of waypoint-takeoff into Mode namespace 2018-07-27 13:08:27 +10:00
SergeyBokhantsev
ea3de59107 Copter: implement user auxswitch functions 2018-07-26 20:27:49 +09:00
Peter Barker
f06637d48e Copter: update servorelayevents @50Hz rather than 3Hz 
One of the functions we allow for is toggling the servo at a set
frequency.  3Hz - the old rate - doesn't allow for precise triggering of
the servo.  This patch increases that rate to 50Hz - somewhat better.
 2018-07-20 09:42:58 +09:00
Michael du Breuil
3755b2ac0f Copter: Remove unused ADC include 2018-07-17 09:29:50 +10:00
Peter Barker
c2f9b857a4 Copter: remove unused baro_climbrate variable 2018-07-04 21:08:47 +01:00
Peter Barker
df83cb034e Copter: use ArmingMethod enumeration 2018-07-03 15:16:38 +10:00
Peter Barker
a1f29e92d1 Copter: use singletons in AP_Arming 2018-07-03 13:44:11 +10:00
Andrew Tridgell
20dea6df45 Copter: moved OSD to top level params 
this gives us plenty of param depth for a complex param tree
 2018-06-27 14:55:00 +10:00
Alexander Malishev
f63b3c044a Copter: added OSD support 2018-06-27 14:55:00 +10:00
Peter Barker
7883582c65 Copter: move takeoff state into Mode class 2018-06-26 09:11:21 +09:00
Peter Barker
cff1969a29 Copter: make do_user_takeoff a member of Mode 2018-06-26 09:11:21 +09:00
Peter Barker
cb26ff64b3 Copter: current_mode_has_user_takeoff -> Mode::has_user_takeoff 2018-06-26 09:11:21 +09:00
Peter Barker
70d159cb38 Copter: raise EKF failure even if USB is connected 
This will let EKF go bad if your PixHawk is connected to your laptop.
This doesn't seem to be a problem for the other vehicles.

This also allows the EKF to go bad in-flight if you happen to have
connected (against AP's recommendations) your companion computer to your
flight controller via USB.  Since people do this, it is better to have
the checks than not.
 2018-06-26 10:07:55 +10:00
Peter Barker
fd9ce90b8e Copter: option to force arm, bypassing checks 2018-06-20 11:43:38 +10:00
murata
a970eacf49 Copter: Do not use the Delay method wrapper. 2018-06-16 09:40:47 +09:00
Peter Barker
078d90132c Copter: use AP_RTC 
Co-authored-by: patrickelectric@gmail.com

Copter: AP_GPS now sets the system time directly

Copter: use AP_RTC for mission delays

Copter: Remove ap_t bits counter (Patrick José Pereira)

Change bits in ap_t to bool and add a static assert
 2018-06-15 08:01:22 +10:00
Peter Barker
ab68e4fe8b Copter: log quiet-nan for rangefinder-desired-alt when not using it 2018-06-06 08:33:56 +09:00
Peter Barker
e3ddf7dadd Copter: rename SPRAYER-enabled-define to SPRAYER_ENABLED 2018-06-01 15:13:05 +09:00
Peter Barker
5f2221fe74 Copter: move handling of VFR_HUD into GCS_MAVLink_Copter 2018-05-29 13:00:40 +10:00
Andrew Tridgell
2425c65e74 Copter: implement 'air-mode' for copter 
this implements what betaflight calls 'air-mode'. This gives attitude
control when throttle is at zero, allowing for zero-throttle maneuvers,
plus keeping the copter level on the ground.

This was already implemented if an interlock switch was setup, but it
should also work with an arming switch. If using an arming switch then
throttle should not be considered zero as long as the arming switch
hasn't gone low.
 2018-05-29 10:27:14 +09:00
Andrew Tridgell
0d56526400 Copter: added de-bouncing of aux switches 
this prevents a crash with a switch such as arm/disarm getting a
single frame RC glitch
 2018-05-29 08:26:46 +09:00
Peter Barker
81e9edd80a Copter: move sending of sim state up 2018-05-23 18:36:50 +10:00
Peter Barker
33582107b6 Copter: move sending of GLOBAL_POSITION_INT up to GCS_MAVLINK 2018-05-17 15:48:06 +01:00
Peter Barker
da1b2579c4 Copter: move send_attitude up to GCS_MAVLINK 2018-05-17 18:28:43 +10:00
Peter Barker
9dce133938 Copter: handle setting of ekf origin in GCS_MAVLink 2018-05-17 10:13:42 +10:00
Peter Barker
0dc0e54767 Copter: move Log_Write_Home_And_Origin into AP_AHRS 2018-05-17 10:13:42 +10:00
Leonard Hall
656892cd88 Copter: ekf failsafe disabled for acro and stabilize 
Also restructure to combine ekf_over_threshold and ekf_check_position_problem
 2018-05-10 08:59:37 +09:00
Peter Barker
dee40f3fe5 Copter: make scheduler track whether it has called the delay callback 2018-05-09 16:15:38 +10:00
Peter Barker
6dd9f50f7c Copter: move try_send_message handling of RC_CHANNELS up 2018-05-08 12:33:32 +01:00
night-ghost
51a189e906 ArduCopter: devo telemetry support (RX705/707) 2018-04-24 10:44:28 +10:00
Peter Barker
ba8b3e2415 Copter: create an AutoYaw helper object to hold auto-yaw state 2018-04-18 13:27:43 +09:00
Pierre Kancir
70805d61f2 ArduCopter: remove inertial_nav from precland constructor 2018-04-17 17:21:35 +09:00
Peter Barker
80549a479e Copter: move throw logging into ModeThrow 2018-04-17 17:16:52 +09:00
Peter Barker
c95ff96263 Copter: Baro does its own dataflash logging 2018-04-12 19:12:12 +01:00
Peter Barker
d9ab8d6569 Copter: sprayer now uses ahrs singleton; stop passing reference 2018-04-12 14:23:33 +09:00
Pierre Kancir
9e298b3b2f Copter: sprayer uses ahrs in constructor 2018-04-11 09:41:33 +09:00
Randy Mackay
59e4749fd0 Copter: integrate AC_Loiter 
includes param conversion
 2018-04-04 10:45:10 +09:00
Peter Barker
0c8110ecb2 Copter: factor vehicle's mavlink send_heartbeat 2018-04-03 13:05:19 +01:00
Peter Barker
d58e2214d2 Copter: tidy handling of barometer calibrations 2018-04-02 23:25:05 +01:00
Peter Barker
cca4d5136e Copter: move common calibration functions up 2018-04-02 23:25:05 +01:00
Dr.-Ing. Amilcar do Carmo Lucas
d633ba8c46 Copter: Add option to disable RPM module 2018-03-30 09:36:48 +09:00
Ebin
1ff4019ddf ArduCopter: moved landing control fns from Copter to Mode 
land_run_horizontal_control(),land_run_vertical_control(),get_alt_above_ground() moved to Mode
 2018-03-29 16:50:00 +01:00
Michael du Breuil
291531e056 Copter: Support new battery failsafes 2018-03-27 22:12:21 +01:00
priseborough
4b00f399b4 Copter: Clarify definition for gps_glitching flag 2018-03-27 20:28:55 +09:00
Peter Barker
45f2312bfe Copter: move home state into AP_AHRS 2018-03-19 10:32:37 +09:00
Peter Barker
2749ee9060 Copter: use ins singleton 2018-03-16 00:37:35 -07:00
Randy Mackay
4a74b1b5e5 Copter: replace NTUN with PSC logging 2018-03-16 13:50:57 +09:00
Leonard Hall
9544b1763b Copter: replace smoothing gain with AC_AttitudeControl::set_input_tc 2018-03-16 13:50:57 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
ed36ec3c29 Copter: add option to disable THROW mode 2018-03-15 07:38:14 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
b27c00dc5f Copter: add option to disable ACRO mode 2018-03-15 07:38:14 +09:00
Randy Mackay
af207caa1f Copter: move get_pilot_desired_lean_angles higher in cpp 
this makes the definition in the .h and implementation in .cpp files appear in the same order
 2018-03-14 09:33:39 +09:00
Ebin
20995b909f Copter: Moved get_pilot_desired_lean_angles to mode.cpp 2018-03-14 09:33:39 +09:00
Peter Barker
d88bd52a53 Copter: use baro singleton 2018-03-08 21:20:05 -08:00
Peter Barker
bc4f021516 Copter: use AP::ahrs() for ADSB 2018-03-07 12:34:39 +00:00
Peter Barker
af56826107 Copter: follow mode fixups 
add follow to FLTMODEx param descriptions
remove follow's set_velocity method
10hz logging of desired velocity in follow mode
follow mode uses pos error P gain
add send-debug-via-mavlink option
don't enter follow if follow lib is disabled
follow debug slowed to 1hz
disable follow on min-features builds
 2018-03-05 15:08:08 +09:00
Randy Mackay
6ee101ca98 Copter: rename chase to follow 2018-03-05 15:08:08 +09:00
Randy Mackay
053983eb70 Copter: integrate AP_Follow into chase mode 2018-03-05 15:08:08 +09:00
Peter Barker
199455dc56 Copter: add chase mode 2018-03-05 15:08:08 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
bc86ca0e3c Copter: simplify Log_Write_Proximity 2018-03-03 17:13:34 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas
bbd1aa1cab Copter: Improve interoperation of AC_AVOID_ENABLED and BEACON_ENABLED 2018-03-03 17:10:26 +00:00
Peter Barker
b8e1f03599 Copter: add define for disabling beacon 2018-02-27 07:43:13 +09:00
Peter Barker
5b355214fd Copter: add option to disable CIRCLE flight mode 
Saves about 2.4kB of flash
 2018-02-27 07:43:13 +09:00
Peter Barker
e4898e1d60 Copter: add option to disable GUIDED_NOGPS flight mode 
Saves about 6.3kB of flash
 2018-02-27 07:43:13 +09:00
Peter Barker
86b162e32f Copter: add option to disable BRAKE flight mode 2018-02-27 07:43:13 +09:00
Peter Barker
a7fe242e31 Copter: add option to disable RTL flight mode 2018-02-27 07:43:13 +09:00
Peter Barker
b8c432b1a1 Copter: add option to disable GUIDED flight mode 
Saves about 6kB of flash
 2018-02-27 07:43:13 +09:00
Peter Barker
0ddeb56a05 Copter: add option to disable DRIFT flight mode 
Saves about 1kB of space
 2018-02-27 07:43:13 +09:00
Peter Barker
e5056f8d40 Copter: add option to disable SPORT flight mode 
Saves about 1,500 bytes
 2018-02-27 07:43:13 +09:00
Peter Barker
7154f4dea4 Copter: add option to disable LOITER mode 2018-02-27 07:43:13 +09:00
Peter Barker
9b440d6b25 Copter: add option to disable SmartRTL mode 
Saves 5.5k of Flash
 2018-02-27 07:43:13 +09:00
Peter Barker
3a61b86e65 Copter: add option to disable POSHOLD mode 
Saves about 4k of Flash
 2018-02-27 07:43:13 +09:00
Peter Barker
b9ad2bc8db Copter: add option to disable AUTO mode 
Saves ~12k of flash
 2018-02-27 07:43:13 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
b24e5c3991 Copter: Obey MOUNT == DISABLED 2018-02-22 20:58:51 +10:00
Peter Barker
846506230d Copter: remove pointless initialisations 
Also reduce storage size of gps primary
 2018-02-22 17:51:35 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas
def098bd8a Copter: obey ADSB_ENABLED == DISABLED 2018-02-21 22:11:34 +09:00