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6149 Commits

Author SHA1 Message Date
ChristopherOlson
2f7d198196 Copter:Logging TradHeli - add governor output and throttle logging for heli governor 2019-06-03 07:53:01 +09:00
ChristopherOlson
8312dcae5d Copter:Scheduler - increase update rate for rpm to 40Hz for helicopter governor 2019-06-03 07:53:01 +09:00
Peter Barker
112b153268 Copter: move Arming functions into AP_Arming file 2019-05-30 16:02:10 +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
17060d5d66 Copter: stop changing frame to home when home not set 2019-05-29 09:04:37 +09:00
Peter Barker
08a18d6a0a Copter: avoid working with uninitialised home location 2019-05-29 09:04:37 +09:00
Peter Barker
d34c4b01f4 Copter: build return path in run() rather than init() 
This avoids attempting to build a return path if we don't currently have
a home or origin
 2019-05-29 09:04:37 +09:00
Peter Barker
7ad4d95426 Copter: do not permit RTL unless home is set 
Rover has a similar check for entering RTL

Without this, if you do not have any rally points then we end up
attempting to manipulate an invalid location.
 2019-05-29 09:04:37 +09:00
Randy Mackay
f93a9c37d3 Copter: 3.6.9 release notes 2019-05-27 14:09:22 +09:00
Peter Barker
3ef84d2b96 Copter: stop passing references to AC_Avoid constructor 2019-05-22 07:48:02 -06:00
Peter Barker
3c436b30f0 Copter: have takeoff.start() handle clearing i terms and setting land-complete 2019-05-15 18:24:26 +10:00
Andrew Tridgell
f55d9140e2 Copter: rename to EXPECT_DELAY_MS() 2019-05-15 15:33:48 +10:00
Andrew Tridgell
bc2f5fa33b ArduCopter: use EXPECT_DELAY() macro 2019-05-15 15:33:48 +10:00
Tom Pittenger
3f359886cd Copter: move heartbeat sending to gcs instead of by vehicles 2019-05-14 10:54:45 -06:00
Andrew Tridgell
f46207499a Copter: prevent reset on compassmot due to watchdog 2019-05-11 05:56:34 +10:00
Randy Mackay
791b6effdd Copter: fix wp distance and bearing reporting during LOITER_TURNS 2019-05-07 13:54:31 +09:00
Peter Hall
3fe63d5bc0 Copter: only save autotune gains if disarmed in autotue 2019-05-07 09:23:50 +10:00
Randy Mackay
73973c77d7 Copter: 3.6.9-rc2 release notes 2019-04-30 13:03:02 +09:00
Randy Mackay
0472c7e6dd Copter: 3.6.9-rc1 release notes 2019-04-30 12:34:34 +09:00
Andrew Tridgell
55dca5cda9 Copter: added in sink rate for parachute check 2019-04-30 10:04:58 +10:00
Peter Barker
37c07e1d89 Copter: use enum class for roll/pitch mode 
This adds some type-safety and helps distinguish between the many
defines which are used within PosHold mode

Saves about 210 bytes of flash
 2019-04-30 08:36:59 +09:00
Peter Barker
462d87e5d0 Copter: remove unused PosHoldModeState enumeration 2019-04-30 08:36:59 +09:00
Peter Barker
e28c6b9dc6 Copter: remove redundant poshold_ prefix on PosHold methods 2019-04-30 08:36:59 +09:00
Peter Barker
f57a9f11cc Copter: move poshold state variables into mode object 
This was simply moving the members from the poshold struct into the
class then mechanically removing poshold. from in front of the member
access.
 2019-04-30 08:36:59 +09:00
Peter Barker
9f9531a790 Copter: AP_Arming: correct overriding of arm_checks method 
This makes the arbitrary decision that arming checks always report
failures to the GCS.

Fixes:

In file included from ../../ArduCopter/events.cpp:1:
In file included from ../../ArduCopter/Copter.h:91:
../../ArduCopter/AP_Arming.h:33:69: fatal error: non-virtual member function marked 'override' hides virtual member function
    bool arm_checks(bool display_failure, AP_Arming::Method method) override;
                                                                    ^
../../libraries/AP_Arming/AP_Arming.h:64:18: note: hidden overloaded virtual function 'AP_Arming::arm_checks' declared here: different number of parameters (1 vs 2)
    virtual bool arm_checks(AP_Arming::Method method);
                 ^
1 error generated.
 2019-04-30 09:29:59 +10:00
Randy Mackay
4fa52bb0de Copter: 3.6.8-release notes 2019-04-26 13:25:00 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
402b1cba3f Copter: replace 4 divisions with multiplications 2019-04-24 08:52:41 -07:00
Andrew Tridgell
3abe8fed89 Copter: updated release notes for 3.6.8 2019-04-24 17:15:44 +10:00
Pierre Kancir
d5d81f3a1c ArduCopter: set AUTO_YAW_HOLD when user control yaw during nogps land 2019-04-23 09:35:02 +09:00
Pierre Kancir
c2811ea144 ArduCopter: respect yaw orientation on LAND 2019-04-23 09:35:02 +09:00
Peter Barker
5d996a289a Copter: move responsibility for logging into library 2019-04-23 10:06:17 +10:00
Peter Barker
7207035c34 Copter: do no compass stick gesture detection while armed 2019-04-23 10:06:17 +10:00
Randy Mackay
8a5141f751 Copter: mode autoyaw lower in mode.h 
make ordering of some declarations consistent across child classes
 2019-04-20 10:04:33 +09:00
Peter Barker
7945c1fdfd Copter: mode class unfriends everyone, make relevant methods public 2019-04-20 10:04:33 +09:00
Randy Mackay
b7d0e4ec10 Copter: remove surface tracking shim functions 2019-04-19 07:45:52 +09:00
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
Randy Mackay
a732dfed6d Copter: minor format fixes to get_pilot_desired_cilmb_rate 2019-04-19 07:45:52 +09:00
Michael du Breuil
465d6b4dc7 Copter: Remove rangefinder distance prearm check 2019-04-16 11:00:32 +09:00
Arjun Vinod
f1de62f0d3 Copter: added left out copter flight modes as auxiliary switch options 2019-04-16 10:57:17 +09:00
Pierre Kancir
caf925eda5 Copter: factorize arm or land check 2019-04-16 10:17:47 +09:00
Peter Barker
07b8473a20 Copter: move setting of compass sys_status bits up 2019-04-16 09:48:23 +10:00
Randy Mackay
403195d9d4 Copter: fix auto-disarm check 
Copters go to SHUT_DOWN when estop is engaged
 2019-04-15 15:34:14 +09:00
Peter Barker
46a6f45e4a Copter: adjust for desired spool state and spool state renames 2019-04-14 12:18:03 +09:00
Randy Mackay
2c682c7001 Copter: add missing AccelZ to GCS_PID_MASK param description 2019-04-13 13:33:52 +09:00
Randy Mackay
571d933b3f Copter: fix send_pid_tuning 
the rate roll PID was being overwritten when PID logging was enabled
 2019-04-13 13:33:52 +09:00
Peter Barker
3e51d8c7d7 Copter: RangeFinder now handles RFND logging 2019-04-09 22:17:58 +10:00
Michael du Breuil
8290bd4e67 Copter: check all EKF cores for health on arming 2019-04-09 10:53:25 +10:00
Peter Barker
5db75b313d Copter: use floats for roll/pitch 
Otherwise we're taking floats, making them int32 and then making them
floats again when calling the attitude controller
 2019-04-09 09:21:12 +09:00
Pierre Kancir
4f29d2e5a6 Copter: factorize esc calibration setup 2019-04-09 08:44:46 +09:00
Pierre Kancir
54380bd144 Copter: change always true condition to a timer 2019-04-09 08:44:46 +09:00
Peter Barker
41a20504b2 Copter: use RSSI singleton for logging 2019-04-09 09:33:13 +10:00
Peter Barker
e5b25824eb Copter: remove unused takeoff_trigger_dz parameter 2019-04-09 08:15:39 +10:00
Peter Barker
ef334fe3c7 Copter: remove hanging method declaration 2019-04-09 08:15:39 +10:00
Pierre Kancir
43dcf066c1 ArduCopter: move check_latlng to Location 2019-04-08 12:56:01 -07:00
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
Peter Barker
85be2b0c8b Copter: clean up flip state enumerations 
... including a redundant definition of the states...
 2019-04-08 14:24:19 +09:00
Randy Mackay
69626ba855 Copter: rename FXY logging to FHXY 
this keeps the log messages appearing directly below the related FHLD when looking in the MP log viewer
 2019-04-08 11:26:59 +09:00
Leonard Hall
df3e73f161 Copter: spool fixes for acro stabilize and throw 2019-04-08 09:42:21 +09:00
Randy Mackay
d626ea66f1 Copter: poshold loses stray set-desired-spool-state 
spool state is all handled higher up in the poshold state switch statement
 2019-04-08 09:42:21 +09:00
Randy Mackay
29d05dfeac Copter: loiter mode gets roll and pitch from loiter_nav 
both wp_nav and loiter_nav's get_roll() and get_pitch() simply get their values from the same underlying position controller
 2019-04-08 09:42:21 +09:00
bnsgeyer
94738c3f86 Copter: change make_safe_shut_down to make_safe_spool_down 2019-04-08 09:42:21 +09:00
bnsgeyer
f96da56ad6 Copter: Allow safe shutdown before disarming 2019-04-08 09:42:21 +09:00
bnsgeyer
7ff3a49a10 Copter:tradheli-spool logic fix for acro and stabilize 2019-04-08 09:42:21 +09:00
Leonard Hall
593925567b Copter: formatting fixes 2019-04-08 09:42:21 +09:00
Randy Mackay
a6bfafefb0 Copter: move loiter and wpnav init out of make_safe_shut_down 
resolves autotest RTLSpeed test failure
 2019-04-08 09:42:21 +09:00
Leonard Hall
38cc5a817f Copter: consolidate mode state decisions 
bnsgeyer and rmackay9 contributed to these changes

make_safe_shut_down waits for spool down before disarming
remove use of attitude_control::set_throttle_out_unstabilized to consolidate logic between multicopters and tradhelis
 2019-04-08 09:42:21 +09:00
bnsgeyer
d949c80d54 Copter: tradheli replaces rotor_runup_complete with spool state 2019-04-08 09:42:21 +09:00
Peter Barker
3b33f4ca4d Copter: add floating-point-constant designators 2019-04-05 23:04:17 -07:00
Michael du Breuil
d1246f5868 Copter: Fix RangeFinder init 2019-04-06 09:15:22 +11:00
Pierre Kancir
4cec958269 ArduCopter: move location_update to Location and rename to offset_bearing 2019-04-06 09:10:28 +11:00
Pierre Kancir
5987966ac6 ArduCopter: move get_bearing_cd to Location and rename to get_bearing_to 2019-04-06 09:10:28 +11:00
Michael du Breuil
0e8c3dc485 Copter: include FWversion 2019-04-05 20:12:53 +11:00
Patrick José Pereira
86633e45ff Copter: Use new RC_Channel AUX_FUNC 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2019-04-03 09:53:58 -07:00
Peter Barker
fad769f3bf Copter: add param conversion from MAG_ENABLE to COMPASS_ENABLED 2019-04-02 10:24:49 +11:00
Peter Barker
2040580ce7 Copter: move enabled parameter into compass library 2019-04-02 10:24:49 +11:00
bnsgeyer
3869507839 Copter: Tradheli- removes suppression of hover_trim_roll on auto takeoff 2019-03-29 13:13:55 +11:00
Rajat Singhal
49554bf8d9 Copter: Add function for sending POSITION_TARGET_LOCAL_NED message 2019-03-29 09:11:14 +11:00
Tom Pittenger
7824b64ad6 Copter: rename dataflash to logger 2019-03-28 16:40:57 +11:00
Peter Barker
86bd531b24 Copter: use convenience manual_override method 2019-03-27 22:33:47 -07:00
Randy Mackay
7c09084f02 Copter: add Loiter and Follow to aux switch 2019-03-28 13:54:22 +09:00
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
6bac6cd725 Copter: remove redundant compass arming checks 
These are already part of prearm checks in the parent class, which must also pass for us to arm
 2019-03-28 11:28:44 +11:00
ChristopherOlson
e56c970eb0 Copter:AP_ARMING - remove collective position prearm check for heli 2019-03-28 10:40:54 +11:00
Peter Barker
e9398e73ff Copter: tidy get_pilot_desired_throttle 2019-03-27 18:03:56 +11:00
Peter Barker
c1c71fec23 Copter: move Mode functions into mode.cpp from Attitude.cpp (NFC) 2019-03-27 14:02:31 +11:00
Peter Barker
7e01d1ef50 Copter: correct compilation for ERROR_SUBSYSTEM_FLIGHT_MODE changing names 2019-03-27 13:23:12 +11:00
Peter Barker
c7e21d95ef Copter: move Log_Write_Error into library 2019-03-27 12:36:40 +11:00
Peter Barker
7a1648059b Copter: stop passing dataflash into handle_radio_status 2019-03-27 10:38:39 +11:00
Peter Barker
335c1769ee Copter: do not allow change to Drift if in non-manual-throttle mode 
drift acts just like stabilise or acro in terms of pilot throttle when
pilot input is maxed.
 2019-03-26 20:57:15 +11:00
Peter Barker
d95160b33c Copter: move check for high-throttle on mode change up 2019-03-26 20:57:15 +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
Peter Barker
9a2d5ac5a6 Copter: move various sensor status flag updates up 2019-03-26 11:03:21 +11:00
bnsgeyer
2ec470aaee Copter:tradheli - added swash params to convert on upgrade 2019-03-20 10:40:20 +10:00
bnsgeyer
2fc942ac24 Copter: tradheli-convert swash parameters on firmware upgrade 2019-03-20 10:40:20 +10:00
Peter Barker
f4a21d446f Copter: move command-long DO_SET_HOME up 2019-03-19 19:56:13 +11:00
Peter Barker
451f5f17ce Copter: move devo telemetry handling to GCS 2019-03-19 14:39:14 +11:00
Peter Barker
4f70bdd046 Copter: GCS can report simple/supersimple input modes 2019-03-19 14:39:14 +11:00