Commit Graph

23 Commits

Author SHA1 Message Date
Leonard Hall 5efe94a771 Copter: use AP_Math control functions 2021-01-20 18:19:40 +11:00
bnsgeyer c75848435e Copter: fix heli land detector and incoporate reset_I_smoothly 2020-12-21 23:33:48 -05:00
Andy Piper 12c9578a66 Copter: add in additional acro options
Air-mode for multicopters
Rate only for multicopters and trad-heli
if air-mode aux switch is toggled in acro do not reset air-mode on exit
2020-07-14 15:54:24 +09:00
Leonard Hall c29aa4077d Copter: Acro expo typo fix 2020-04-08 08:58:47 +09:00
Leonard Hall 1a4e96b4ba Copter: Fix Rate expo calculation
This fixes a bug in the yaw rate expo and makes these changes consistent with roll and pitch rate expo.
2020-04-06 09:41:39 +09:00
Leonard Hall ffd838d908 Copter: Delay release of I term until take off 2019-11-09 09:40:10 +08:00
Peter Barker e6c6189fe5 Copter: cope with change in namespace of LogEvent enum
Also move Acro Trainer types into an enum class as the global defines
interfere with the Event names.

Also eliminate the Log_Write_Event wrappers.
2019-11-05 08:19:26 +08:00
Peter Barker b4537bebd8 Copter: move control_mode_t into being Mode::Number enum class
Fixes this compiler error:

In file included from ../../ArduCopter/sensors.cpp:1:
In file included from ../../ArduCopter/Copter.h:195:
../../ArduCopter/mode.h:1291:9: fatal error: declaration shadows a variable in the global namespace [-Wshadow]
        AUTO,           // after A and B defined, pilot toggle the switch from one side to the other, vehicle flies autonomously
        ^
../../ArduCopter/defines.h:38:5: note: previous declaration is here
    AUTO =          3,  // fully automatic waypoint control using mission commands
    ^
1 error generated.
2019-09-13 13:12:08 +09:00
Leonard Hall 8b7fe2ac12 Copter: Acro_Balance update 2019-08-23 10:59:29 +09:00
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 46a6f45e4a Copter: adjust for desired spool state and spool state renames 2019-04-14 12:18:03 +09:00
Leonard Hall df3e73f161 Copter: spool fixes for acro stabilize and throw 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
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
Bill Geyer c40312d0f9 Copter: fix to acro trainer leveling mode 2019-03-15 15:26:24 +09:00
Randy Mackay 655fe660ed Copter: remove reset of alt target in manual throttle mode
the target was being set to zero only for logging purposes
2018-11-21 21:41:58 +09:00
Peter Barker 5f552a6ce3 Copter: stop shadowing members of Copter
These references were taken to make the breaking out of Modes in Copter.

A lot of other code has already caused these sorts of things to go away,
but these particular ones seem reasonable to fix by pointing the users
at the copter object directly.
2018-10-16 10:17:12 +11:00
Dr.-Ing. Amilcar Do Carmo Lucas b27c00dc5f Copter: add option to disable ACRO mode 2018-03-15 07:38:14 +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 662afdc2fd Copter: fixed build warning
double precision promotion
2018-02-07 20:33:45 +11:00
Peter Barker 114628afe4 Copter: use zero_throttle_and_relax_ac in stab, guided, acro and auto 2018-01-08 12:02:49 +00:00
Randy Mackay c3fbf2671c Copter: rename control_xx.cpp files to mode_xx.cpp 2017-12-12 10:39:26 +09:00