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366 Commits

Author SHA1 Message Date
Randy Mackay
59e4749fd0 Copter: integrate AC_Loiter 
includes param conversion
 2018-04-04 10:45:10 +09:00
Michael du Breuil
291531e056 Copter: Support new battery failsafes 2018-03-27 22:12:21 +01:00
Dr.-Ing. Amilcar do Carmo Lucas
580143d404 Copter: Add whitespaces to increase readability and consistency (NFC) 2018-03-23 09:34:11 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
4f0cf6d334 Copter: Parameter ACRO_THR_MID is only used in ACRO flight mode 2018-03-23 09:14:23 +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
115ed491c0 Copter: Obey RANGEFINDER_ENABLED, AUTOTUNE_ENABLED and AC_TERRAIN build macros 2018-03-15 15:03:22 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas
ed36ec3c29 Copter: add option to disable THROW mode 2018-03-15 07:38:14 +09:00
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
053983eb70 Copter: integrate AP_Follow into chase mode 2018-03-05 15:08:08 +09:00
night-ghost
adcc309f15 Copter: allow AP_Stats to be optional 2018-03-02 07:23:35 +11:00
Peter Barker
b8e1f03599 Copter: add define for disabling beacon 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
murata
c31c2a4cf1 Copter: optionalize the winch 2018-02-12 12:16:57 +09:00
Andrew Tridgell
0ed75052f8 Copter: enable parameters inside mode objects 
this adds FHLD_* parameters for FlowHold mode. It is a large patch as
it needs to disentagle the mode class to enable it to be used in
Parameters.h
 2018-02-08 17:36:33 +11:00
Andrew Tridgell
af4f0c29ba Copter: enable TMODE (ToyMode) support 
this is for the skyviper button based transmitter control
 2018-02-08 17:36:33 +11:00
Andrew Tridgell
15166eff2e Copter: enable temperature calibration library 2018-02-08 17:36:33 +11:00
Andrew Tridgell
89674482a7 Copter: added FLTMODE_CH parameter 
this allows for the flight mode to be on any RC channel, or no channel
at all to disable RC flight modes
 2018-01-27 12:01:35 +09:00
Pierre Kancir
cfc69214e6 Copter: add LAND_ALT_LOW parameter 2018-01-24 21:14:35 +09:00
Randy Mackay
8d6f8e4d9c Copter: move pos-control pids to pos-control library 2018-01-23 12:00:43 +09:00
Randy Mackay
6546ccbb3f Copter: velocity pi moved to position control library 2018-01-23 12:00:43 +09:00
Peter Barker
996115c0d3 Copter: eliminate MAIN_LOOP_SECONDS macro 2018-01-20 15:35:58 +11:00
ChrisBird
caaeae3d0a Copter: Separate max ascent and descent speeds 
Added equivalent parameters to WPNAV_SPEED_UP and WPNAV_SPEED_DN

New parameters named:
PILOT_SPEED_UP (technically renamed PILOT_VELZ_MAX)
PILOT_SPEED_DN

Removed parameter PILOT_VELZ_MAX (technically renamed to PILOT_SPEED_UP).

Flight Modes impacted:
ALTHOLD
AUTOTUNE
CIRCLE
LOITER
POSHOLD
SPORT
TAKEOFF

Update a section in GUIDED mode but I don't think it is ever used but update just in case.

It will use the PILOT_SPEED_UP for ascending max velocity.  For down it will check if
it is 0, if so then it will PILOT_SPEED_UP instead, if non zero it will use PILOT_SPEED_DN.
This retains current behavior and gives the flexibility to change it if desired.
 2017-11-09 09:03:54 +09:00
Randy Mackay
787954fa37 Copter: integrate winch library 
fixes after peer review:
rename winch-disable to winch-relaxed
add DO_WINCH to do-verify
winch release-length accepts rate
 2017-10-27 09:20:38 +09:00
squilter
4b57a4a231 Copter: rename SafeRTL to SmartRTL 2017-09-09 14:05:41 +09:00
squilter
ba0e08552f Copter: add SafeRTL flight mode 2017-09-09 14:05:41 +09:00
Peter Barker
c6b9c84d1f Copter: remove CLI 2017-08-14 10:23:50 +09:00
Eugene Shamaev
24c390ade0 ArduCopter: move of CAN parameters into separate group 2017-07-03 11:44:32 +01:00
Randy Mackay
713c08672f Copter: integrate AP_VisualOdom 2017-04-19 11:04:40 +09:00
Peter Barker
bd6ffc025e Copter: start conversion to AP_Arming_Copter 2017-01-17 11:45:08 +09:00
Andrew Tridgell
5a87ae3f01 Copter: use new SRV_Channels API 2017-01-12 17:39:37 +11:00
Randy Mackay
e32ddaa7fa Copter: reorder beacon and proximity declaration 
resolves compiler warning
 2017-01-04 19:58:53 +09:00
Randy Mackay
12d024e0c6 Copter: rename FRAME to FRAME_TYPE 
This unifies the plane and copter parameter names
 2016-12-31 10:55:23 +09:00
Randy Mackay
0ac00dbfd6 Copter: add FRAME_CLASS parameter 2016-12-31 10:55:23 +09:00
Andrew Tridgell
c3b9dbf5c8 ArduCopter: Add EKF3 and remove EKF1 2016-12-19 08:07:09 +11:00
Randy Mackay
21c7ea1df7 Copter: integrate AP_Beacon 2016-11-30 17:56:55 +09:00
Peter Barker
236b8ab6b7 Copter: make EPM a subclass of AP_Gripper_Backend 2016-11-05 10:20:39 +09:00
Peter Barker
920868145c Copter: support for AP_Gripper 2016-11-05 10:20:33 +09:00
Peter Barker
df07cb525a Copter: use AP_Stats to store statistics about vehicle 2016-10-29 14:53:25 +09:00
Mathieu OTHACEHE
152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
Andrew Tridgell
5a9276a5c4 Copter: added SYSID_ENFORCE parameter 
allows enforcement of SYSID_MYGCS
 2016-10-15 17:14:19 +11:00
Leonard Hall
5c47f3f9e5 Copter: add acro throttle and yaw expo and smoother manual pilot throttle 2016-10-15 11:27:53 +09:00
Randy Mackay
0aab175051 Copter: move proximity to g2 2016-10-14 14:02:29 +09:00
Randy Mackay
fcc2a1b378 Copter: integrate AP_Proximity into main vehicle 2016-10-13 20:21:07 +09:00
Andrew Tridgell
d0dd10aeea Copter: added DEV_OPTIONS parameter 
this is for little used options to allow standard firmware builds to
enable those options for development purposes

First option is for MAVLink based ADSB avoidance
 2016-09-12 16:24:34 +10:00
Andrew Tridgell
f18e0dadc9 Copter: added optional AdvancedFailsafe for copter and heli 2016-08-25 14:14:18 +10:00
Andrew Tridgell
89c10a2db9 Copter: rename WP_TKOFF_NAV_ALT to WP_NAVALT_MIN 
this is in preparation for using the same parameter for landing as
well
 2016-08-16 11:26:56 +10:00
Randy Mackay
9842840346 Copter: GND_EFFECT_COMP parameter to enable ground effect compensation 2016-08-09 13:31:36 +09:00
chambana
25940c8e0f Copter: add THROW_TYPE and allow dropping vehicle to trigger motors 2016-08-02 20:25:52 +09:00
Randy Mackay
f0f87a2f0c Copter: add throw_nextmode 
vehicle switches to mode specified in THROW_NEXTMODE parameter after the
throw is completed.
 2016-08-02 20:25:52 +09:00
Randy Mackay
d50987f976 Copter: avoidance_adsb implements copter avoidance using ADSB 2016-07-25 20:24:37 +09:00
Andrew Tridgell
cb5ca713a9 Copter: added AP_Button support 2016-07-22 15:01:20 +10:00
Andrew Tridgell
3a8ed06267 Copter: added TKOFF_NAV_ALT parameter 
this adds TKOFF_NAV_ALT which controls the altitude above takeoff that
navigation can begin. It is meant for unstable vehicles such as helis
to prevent blade strike during initial takeoff.

This also adds a new parameter class ParametersG2 which can hold 64
parameters. This is to avoid running out of parameters in the first
256 block
 2016-07-07 14:21:47 +09:00
Daniel Ricketts
87be8daf0e Copter: integrate AC_Avoidance library 2016-06-22 11:38:15 +09:00
Leonard Hall
48eb4cf674 Copter: remove THR_MID 2016-06-18 11:55:49 +09:00
Leonard Hall
dec9323127 Copter: remove THR_MIN 
Equivalent is AP_Motors SPIN_MIN
 2016-06-18 11:55:49 +09:00
Andrew Tridgell
045e3c179a Copter: moved EKF2 to a new parameter index 
the meanings of many of the parameters have changed. Best to use a new
index to prevent old parameters from causing crashes
 2016-05-25 19:35:17 +10:00
Randy Mackay
7689315ba2 Copter: rename sonar to rangefinder 2016-05-21 10:36:53 +09:00
Randy Mackay
74e02d2c82 Copter: rename TERRAIN_USE to TERRAIN_FOLLOW 
This matches plane's parameter name
 2016-04-30 10:33:01 +09:00
Randy Mackay
91f6c7b503 Copter: add TERRAIN_USE parameter 
Also add terrain.cpp to hold terrain_update and terrain_logging functions
 2016-04-30 10:33:01 +09:00
Randy Mackay
bde498375c Copter: remove attitude PIDs 
These are now part of AC_AttitudeControl
 2016-04-01 11:59:30 +09:00
Randy Mackay
1f37f5a0e7 Copter: remove tradheli swash, yaw and rsc servos 
These are all created within the AP_MotorsSingle class now except for servo_rsc which was unused
 2016-04-01 11:59:30 +09:00
Leonard Hall
6c40d6f774 Copter: remove single frame's servo objects 2016-04-01 11:59:30 +09:00
Leonard Hall
44180e44df Copter: remove coax servo objects 
servos moved to AP_MotorsCoax class
 2016-04-01 11:59:30 +09:00
Leonard Hall
a00a9601a4 Copter: AP_MotorsCoax now uses 4 servos 2016-04-01 11:59:30 +09:00
Andrew Tridgell
f19922fec5 Copter: added LAND_SPEED_HIGH parameter 
this is the descent rate for the first part of a landing. Separating
this from WPNAV_SPEED_DN allows for independent tuning of fast fwd
flight from landings
 2016-03-30 15:54:20 +11:00
Lucas De Marchi
e88ba38595 ArduCopter: replace header guard with pragma once 2016-03-16 18:40:44 +11:00
Paul Riseborough
a7b69366a1 Copter: Add flight mode for throw launch 
The is commit adds a new flight mode called 'Throw' to Copter that enables the copter to be thrown into the air to start motors. This mode can only be netered when the copters EKF has a valid position estimate and goes through the following states

Throw_Disarmed - The copter is disarmed and motors are off.
Throw_Detecting - The copter is armed, but motors will not spin unless THROW_MOT_START has been set to 1. The copter is waiting to detect the throw. A throw with an upwards velocity of at least 50cm/s is required to trigger the detector.
Throw_Uprighting - The throw has been detected and the copter is being uprighted with 50% throttle to maximise control authority. This state transitions when the copter is within 30 degrees of level.
Throw_HgtStabilise - The copter is kept level and height is stabilised about the target height which is 3m above the height at which the throw release was detected. This state transitions when the height is no more than 0.5m below the demanded height.
Throw_PosHold - The horizontal motion is arrested and the copter is kept at a constant position and height.
 2016-03-03 12:18:13 +09:00
Jonathan Challinger
3800c66f07 Copter: add RTL_CONE_SLOPE 2016-01-07 17:22:33 +09:00
Andrew Tridgell
5c94b61f49 Copter: support up to 14 input channels for all boards 2016-01-04 08:22:51 +11:00
Randy Mackay
1155b1f557 Copter: remove precision landing PI controller 
This controller has been moved into the precision landing class
 2015-12-31 15:30:36 +09:00
pepevalbe
3b3205304b Copter: added group parameter for AP_Notify library 2015-12-31 11:33:08 +09:00
Peter Barker
f57d237181 Copter: support multiple simultaneous backends 2015-12-03 13:21:51 +11:00
Tom Pittenger
34d6d985e9 Copter: Add support for ADS-B 2015-11-27 15:02:15 +09:00
Jonathan Challinger
5086168b03 Copter: add RTL_SPEED parameter 2015-11-16 10:20:32 +09:00
Robert Lefebvre
5cc4f41d85 Copter: Helicopter: to use new Stab_Col and Acro_Col functions. 2015-11-12 19:37:23 +09:00
Robert Lefebvre
34fb600c4f Copter: Utilize Input Manager Class 2015-11-12 19:37:22 +09:00
Andrew Tridgell
053194fd51 Copter: added EK2_* parameters and EKF2 instance 2015-09-23 11:56:33 +10:00
Randy Mackay
7db77482f5 Copter: precision landing velocity PI object 
Follow up changes required to actually use this PI during landing
 2015-08-31 18:00:32 +09:00
Randy Mackay
26ded641db Copter: integrate Precision Landing lib 2015-08-31 18:00:28 +09:00
Robert Lefebvre
990761a13b Copter: Create new heli RSC RC Channel object. 2015-08-31 11:27:50 +09:00
Andrew Tridgell
ff934d5bca Copter: added FS_CRASH_CHECK parameter 
this allows automatic crash detection to be disabled
 2015-08-31 12:15:46 +10:00
Andrew Tridgell
90909f2b4a Copter: added DISARM_DELAY parameter 
this allows automatic disarming to be disabled, or set to a shorter or
longer time as appropriate for the user
 2015-08-31 11:44:08 +10:00
Stewart Loving-Gibbard
7cb494d8e2 Copter: Moving to RSSI library for reading various kinds of RSSI, with the possibility of adding more. 
* Retains ability to read from Analog Pin
* Adds ability to read RSSI from PWM channel value as is done in OpenLRSng, EazyUHF, and various other LRS.
* Handles any type of RSSI that provides RSSI values inverted - i.e. when the low value is the best signal and the high value is the worst signal.
* Has different key names from all existing RSSI parameters to provide for a clean break and easier distinguishing.
* Existing parameters are marked as obsolete
 2015-08-29 08:05:59 +10:00
Randy Mackay
a10a74d498 Copter: AUTOTUNE_MIN_D param to allow controlling minimum D 2015-08-23 14:56:39 +09:00
Andrew Tridgell
1fdf7ec83f Copter: added RPM sensor support 
send result via MAVLink
 2015-08-12 15:03:50 +10:00
Gustavo Jose de Sousa
4d4b856735 ArduCopter: standardize inclusion of libaries headers 
This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
 2015-08-11 16:28:40 +10:00
Randy Mackay
063faa0383 Copter: add RTL_CLIMB_MIN 
Vehicle climbs at least this many cm when entering RTL
 2015-07-13 20:38:52 +09:00
Randy Mackay
f93a259b04 Copter: add comment to Solo section in Parameters.h 2015-06-14 14:47:02 +09:00
Jonathan Challinger
fd37a48f8e Copter: clean up Parameters.h comments a bit 2015-06-14 14:44:15 +09:00
Jonathan Challinger
035c0b567e Copter: reserve param indices that exist in Solo repo 2015-06-14 14:44:13 +09:00
Randy Mackay
aa05325b54 Copter: add althold as ekf failsafe action 2015-06-10 12:06:08 +09:00
Randy Mackay
4408f01f39 Copter: rename ekf_check_thresh to fs_ekf_thresh 2015-06-10 12:06:06 +09:00
Andrew Tridgell
1792710f41 Copter: added a bit in LOG_BITMASK for PID logging 2015-05-27 15:09:47 +10:00
Andrew Tridgell
22524daf5f Copter: added GCS_PID_MASK for mavlink rate tuning 2015-05-27 14:28:46 +10:00
Robert Lefebvre
575a5ad619 Copter: Set better default Rate PIDs for TradHeli 2015-05-22 09:38:26 +09:00
Randy Mackay
d8b7e4a199 Copter: add support for 4th mavlink channel 2015-05-15 15:07:27 +09:00
Jonathan Challinger
73d961cebc Copter: mavlink initiated takeoff in alt-hold modes 
adds PILOT_TKOFF_ALT for target altitude above home in cm for pilot initiated takeoff
 2015-05-01 12:56:18 +09:00
Jonathan Challinger
b10cf0f38a Copter: pre-takeoff throttle for sprung throttle sticks 
Adds PILOT_THR_BHV, PILOT_TKOFF_DZ parameters
 2015-05-01 12:56:16 +09:00
Jonathan Challinger
91a03ae0e7 Copter: add PILOT_THR_FILT and call set_throttle_out functions with that value 2015-04-16 21:00:11 +09:00
Randy Mackay
74b98b89d0 Copter: remove dcm check 2015-03-27 00:04:37 -07:00