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6789 Commits

Author SHA1 Message Date
Randy Mackay
7565e9d75d Copter: update_throttle_mix uses filtered accelerations 2020-02-25 16:52:40 +09:00
Randy Mackay
9a32b3bdd9 Copter: rename update_throttle_mix 
was called update_throttle_thr_mix
also minor formatting fixes
 2020-02-25 16:52:40 +09:00
Peter Barker
ae2578e5c9 ArduCopter: move initialisation of serial and gcs to AP_Vehicle 2020-02-25 11:50:55 +11:00
Andrew Tridgell
dd5fafe30e Copter: added rangefinder height interpolated using inertial alt 
this smooths rangefinder heights and allows for good estimated for
precision landing even with loss of some rangefinder samples during landing
 2020-02-25 09:10:30 +09:00
Peter Barker
ce5f23810b ArduCopter: log disarm method 2020-02-22 12:16:29 +11:00
Andy Piper
4c1816a983 Copter: port betaflight in-flight fft analysis to arducopter and expose as a log message 
add harmonic notch tracking mode
call AP_GyroFFT::update_freq_hover() from update_throttle_hover()
move gyrofft configuration and control to AP_Vehicle
move fft logging to fft library
 2020-02-22 11:15:37 +11:00
Randy Mackay
def108c0e0 Copter: version to 4.0.4-dev 2020-02-20 12:58:07 +09:00
Randy Mackay
283682fb89 Copter: 4.0.3-rc1 release notes 2020-02-20 12:56:15 +09:00
Tatsuya Yamaguchi
9f577a23c8 Copter: stop spray if changing a mode from ZigZag to other 2020-02-19 19:56:56 +09:00
Tatsuya Yamaguchi
19d2ffcde7 Copter: makes the pump on while moving to destination A or B 2020-02-19 19:56:56 +09:00
Tatsuya Yamaguchi
6b192de389 Copter: add ZIGZAG_AUTO_PUMP parameter 2020-02-19 19:56:56 +09:00
Siddharth Purohit
defc1b5fcb ArduCopter: add arming message for compass not detected but assigned 2020-02-19 13:59:53 +09:00
Siddharth Purohit
b5cf1ecfe1 Arducopter: Primary Compass is always serial# 0 2020-02-19 13:59:53 +09:00
Rishabh
d4dcadcea0 Copter: Rename SYSID_SW_MREV to FORMAT_VERSION 2020-02-19 09:45:22 +09:00
murata
94901edaf2 Copter: Match the column of element description 2020-02-19 09:44:57 +09:00
Patrick José Pereira
7bfcec2fc1 Copter: log_Heli is only used with FRAME_CONFIG as HELI_FRAME 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-02-18 11:14:04 +11:00
Peter Barker
1424945c14 ArduCopter: remove unused compass_init_location state 2020-02-18 10:35:49 +11:00
Randy Mackay
d04c86be1e Copter: minor format changes to GCS_MAVlink.cpp 2020-02-17 14:42:49 +09:00
Sachchit Vekaria
f6125b26e8 Copter: Allowing Terrain Following in Guided Mode 
Uses frame type of MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT message to decide the value of terrain_alt boolean.
 2020-02-17 14:42:42 +09:00
Randy Mackay
eca0d662f0 Copter: minor format fix to sensors.cpp 2020-02-17 14:30:18 +09:00
Randy Mackay
495c4ad6b6 Copter: remove unused ModeAuto::wp_start 
this version accepts an offset from the ekf origin which is not required.  All callers provide a Location
 2020-02-17 14:30:18 +09:00
Randy Mackay
d244162587 Copter: zigzag supports arming, takeoff and landing 2020-02-13 07:37:29 +09:00
Randy Mackay
670ac124c0 Copter: 4.0.2 release notes 2020-02-11 12:35:54 +09:00
Peter Barker
18670d681e Copter: let AP_Vehicle handle loop() 2020-02-06 14:41:06 +11:00
Randy Mackay
2ab124223a Copter: version to 4.0.3-dev 2020-02-06 08:38:43 +09:00
Randy Mackay
8ff5bb624f Copter: update release notes for 4.0.2-rc4 2020-02-06 08:36:58 +09:00
Randy Mackay
19ad51913c Copter: 4.0.2-rc4 release notes 2020-02-06 08:36:55 +09:00
Randy Mackay
c7f8c6155b Copter: avoid SITL failure when changing current_loc.alt frame 
This change avoids a SITL failure caused by an attempt to change current_loc.alt's frame when current_loc is 0,0,0
 2020-02-05 17:29:34 +09:00
Randy Mackay
bd8bcd5ab1 Copter: correct current_loc to be alt-above-home 2020-02-05 14:18:00 +09:00
Matt Lawrence
66bf6d0a91 Copter: Fix circle radius pitch stick control 
Pitch stick up will reduce the radius, as in moving forward.  Pitch stick back will increase the radius, as in moving backwards.
 2020-02-04 09:11:03 +09:00
Randy Mackay
9a0e6f6488 Copter: 4.0.2-rc3 release notes 2020-02-01 17:10:56 +09:00
Randy Mackay
be561d41d2 Copter: 4.0.2-rc1 release notes 2020-02-01 09:21:44 +09:00
Randy Mackay
74e3ca75a7 Copter: check_mot_pwm_params arming check returns true on success 2020-01-30 10:13:21 +09:00
ashvath
aecc10fdc3 Copter: Pre-arm check for mot_pwm 2020-01-30 08:29:56 +09:00
Peter Barker
9e8af48cce ArduCopter: move some common init_ardupilot code up to AP_Vehicle 2020-01-28 11:34:51 +11:00
Peter Barker
debedd9d34 Copter: move setup method up to AP_Vehicle base class 2020-01-28 11:34:51 +11:00
Peter Barker
45b2f24867 Copter: StorageManager layout is now done with a pragma 2020-01-28 11:34:51 +11:00
Randy Mackay
2f6d655ff0 Copter: version to 4.0.2-dev 2020-01-27 18:57:38 +09:00
Randy Mackay
7e9f079fc7 Copter: 4.0.1 release notes 2020-01-25 10:10:44 +09:00
Matt Lawrence
b5a051ed69 Copter: Reverse circle radius stick input 
Change the circle mode radius control so that pitch stuck up (forward) reduces the radius. Pulling the pitch stick back (reverse), increases the radius.
 2020-01-22 11:16:51 +09:00
Matt Lawrence
d1feb93152 Copter: Add GCS failsafe pre-arm check 2020-01-21 13:48:54 +09:00
Matt Lawrence
c7de86a241 Copter: Update AP_Notify of GCS failsafe 2020-01-21 13:48:54 +09:00
Randy Mackay
6597d5c825 Copter: remove old ch7_opt and tune param desc 2020-01-21 13:06:56 +09:00
Peter Barker
e3dd0d33e7 Copter: allow NavEKFs to be compiled out 2020-01-21 11:53:18 +11:00
Peter Barker
45dc4cf25c Copter: EKF objects have moved into AP_AHRS_NavEKF 2020-01-21 11:53:18 +11:00
Peter Barker
9466126fa8 Copter: let AP_Vehicle base class worry about scheduler delay callback 2020-01-21 11:37:28 +11:00
Randy Mackay
e1274aea33 Copter: 4.0.1-rc3 release notes 2020-01-19 11:20:40 +09:00
Andrew Tridgell
4445313661 Copter: fixed build warnings 2020-01-18 17:19:07 +11:00
Andrew Tridgell
1350f6e338 Copter: use HAL_PARACHUTE_ENABLED and HAL_SPRAYER_ENABLED 2020-01-18 13:48:48 +11:00
Andrew Tridgell
f4f62b2699 Copter: remove linkage of AP_Stats 2020-01-16 20:36:54 +11:00
Andrew Tridgell
47ea3274bb Copter: list BetaflightXReversed frame type 2020-01-16 19:13:13 +11:00
Peter Hall
61810d69aa Copter: set_likely_flying in vehicle 2020-01-14 22:34:37 -07:00
Peter Barker
1ffd697769 Copter: add missing fallthrough statements 2020-01-15 13:55:42 +11:00
Andrew Tridgell
1fae2009db Copter: update for new SRV_Channels parameter conversion call 2020-01-14 14:23:11 +11:00
Gone4Dirt
daf1b57736 Copter: Changed autorotation fltmode to clarify for heli 2020-01-14 09:47:28 +09:00
Peter Barker
e1b3bd2e42 ArduCopter: move logging of armed/disarm events into AP_Arming base class 2020-01-14 11:39:36 +11:00
Tatsuya Yamaguchi
e01e924711 Copter: allow scripts to get modes 2020-01-14 11:16:29 +11:00
Peter Barker
0986ed0a81 Copter: set_range on motor interlock channel 2020-01-11 21:55:24 +11:00
Randy Mackay
17e726b967 Copter: 4.0.1-rc2 release notes 2020-01-10 16:35:26 +09:00
Randy Mackay
5a2386001b Copter: 4.0.1-rc1 release notes 2020-01-10 12:39:10 +09:00
bnsgeyer
64f98622c0 Copter: fix tradheli RSC RC passthrough mode 
Copter: heli get_pilot_desired_rotor_speed converts interlock input to desired rotor speed
 2020-01-09 19:55:02 +09:00
Peter Barker
eb452478ac Copter: override do_aux_function_armdisarm method to set armed_with_switch 
As well as removing the code duplication, this only sets the flag if
arming was actually successful.  armed-with-switch is used when setting
various state, and it isn't entirely clear that we only use it when
armed.  This would seem to be a safer option.
 2020-01-08 18:36:02 +11:00
Peter Barker
0d04ef19fe ArduCopter: let RC_Channel indicate AUX_FUNC::ARMDISARM needs no initialisation 
All users set this.
 2020-01-08 18:36:02 +11:00
Matt Lawrence
809b170015 Copter: Circle mode pilot control of rate & radius 
RC pitch stick controls circle mode radius.  RC roll stick controls circle mode rate (speed) and direction.
 2020-01-07 09:30:33 +09:00
Peter Barker
d5b1f1651e Copter: remove unneeded set_range calls on RC Aux channels 
This isn't an exhaustive list of channels used for auxillary input, so
that makes this wrong.

RC_Channel goes off the raw get_radio_in values, so setting these is a
pointless and potentially confusing state change.

Also, Plane and Rover don't do this - so things are more consistent
after this.
 2020-01-07 08:41:36 +09:00
murata
a31f881232 Copter: Change the version patch number 2020-01-06 09:29:21 +09:00
Peter Barker
1ff07762de Copter: remove report_compass method 
This wasn't actually responsible for saving offsets any more.

The data spewed out was rather unlikely to be seen, and will be present
in logs anyway.
 2020-01-04 10:46:51 +09:00
Peter Barker
2694560c38 Copter: generally unseen remove report_version 
This won't generally be seen or useful to anyone
 2020-01-04 10:46:51 +09:00
Peter Barker
326a569ea8 Copter: remove dangling read_control_switch method declaration 2020-01-02 10:13:35 +09:00
Andrew Tridgell
630bd7062c Copter: removed init_vehicle from separate vehicles 
use common call from AP_BoardConfig
 2019-12-30 13:02:04 +11:00
Andy Piper
93abfdb905 Copter: create generic vehicle management and move runcam to it 2019-12-30 13:02:04 +11:00
Randy Mackay
f0848551d9 Copter: version to 4.0.1-dev 2019-12-29 12:52:27 +09:00
Randy Mackay
ac8e402158 Copter: 4.0.0 release notes 2019-12-29 12:51:39 +09:00
Randy Mackay
5d70af3f76 Copter: 4.0.0-rc6 release notes 2019-12-28 11:32:18 +09:00
Peter Barker
a56ab9136e Copter: let GCS base class handle proximity and rangefinder messages 2019-12-24 12:08:54 +11:00
Peter Barker
72e6446204 Copter: make requires_terrain a callback on the flightmode 
This will prompt new modes to consider whether failsafe should be active
for terrain.
 2019-12-24 09:46:19 +09:00
Randy Mackay
5e13fc1e0f Copter: 4.0.0-rc5 release notes 2019-12-23 22:52:04 +09:00
Randy Mackay
f56a426193 Copter: gcs failsafe disabled by default 2019-12-23 14:35:15 +09:00
Randy Mackay
4f7be08442 Copter: 4.0.0-rc4 release notes 2019-12-20 09:29:30 +09:00
Andrew Tridgell
d9a255afc3 Copter: fixed range check for RC channel 2019-12-20 10:55:14 +11:00
Randy Mackay
842a9b78a9 Copter: remove out-of-date comment from terrain failsafe check 2019-12-17 20:02:01 +09:00
Randy Mackay
3e7fb66a77 Copter: precision landing does not use terrain database 
precision landing was always only using the range finder, there was no use of the provided alt unless the rangefinder was good
 2019-12-17 20:02:01 +09:00
Randy Mackay
ea22e888c7 Copter: improve RTL terrain following 
RTL_ALT_TYPE replaces TERRAIN_FOLLOW param
return path built using rangefinder or terrain database
pre-arm checks for RTL_ALT_TYPE parameter
pre-arm checks of terrain data only run if RTL might use it
 2019-12-17 20:02:01 +09:00
Randy Mackay
39a6b104dd Copter: move RTLState to ModeRTL 2019-12-17 20:02:01 +09:00
Randy Mackay
0a1b96e02d Copter: zigzag uses renamed AC_WPNav::rangefinder_used_and_healthy 2019-12-17 20:02:01 +09:00
Randy Mackay
e8a3f6d6a1 Copter: 4.0.0-rc3 release notes update 2019-12-17 12:51:40 +09:00
Randy Mackay
111dfc130b Copter: 4.0.0-rc3 release notes 2019-12-17 12:51:34 +09:00
bnsgeyer
74d81e6d50 Copter: Change STAB_COL params to percent 2019-12-14 09:00:31 +09:00
Randy Mackay
98ea8e0627 Copter: 3.6.12 release notes 2019-12-13 15:25:19 +09:00
Randy Mackay
b482d147df Copter: always store previous control mode 
also minor spacing fixup
 2019-12-12 09:13:24 +09:00
Randy Mackay
f768e80458 Copter: remove unused prev_control_mode_reason 2019-12-12 09:13:24 +09:00
Peter Barker
10bbcf98be Copter: tidy land_run_vertical_control for precision-landing case 2019-12-11 08:18:49 +09:00
Peter Barker
544eb5f179 Copter: correct duplicate button instance 2019-12-10 09:29:52 +09:00
Peter Barker
a567e8bc94 Copter: use https:// scheme for ardupilot URLs 2019-12-10 07:53:46 +11:00
Randy Mackay
46f237e78e Copter: 3.6.12-rc1 release notes 2019-12-09 10:50:25 +09:00
Peter Barker
d63788a09f Copter: move setting of GPS SYS_STATUS bits up to base class 2019-12-05 13:02:19 +11:00
Leonard Hall
7d062e3767 Copter: System ID mode: Add tuning option parameter discription 2019-12-05 09:21:00 +08:00
Randy Mackay
54582814aa Copter: use SID_AXIS to hide other SystemID mode params 2019-12-03 14:53:55 +08:00
Randy Mackay
36fdad4e61 Copter: scripting init sends failure message 2019-12-03 12:48:32 +08:00
Randy Mackay
2c3beb0f91 Copter: add mandatory gps checks 2019-12-03 08:06:39 +08:00
Peter Barker
2296448027 Copter: make private enum class for LAND mode's state 2019-12-03 07:38:22 +08:00
Peter Barker
a58813c828 Copter: precland: don't use altitude from bad location 2019-12-02 16:13:49 +08:00
Peter Barker
62869b5be8 Copter: vehicle parent class now instantiates AHRS 2019-12-02 09:16:22 +11:00
Gone4Dirt
180d4e713c Copter: Added autorotation flight mode and support 2019-11-29 08:06:10 +08:00
Peter Barker
46832e9dee Copter: rename system_status as it won't be called from base class 2019-11-27 14:27:53 +11:00
Marian Soban
278737fc8e Copter: LTM telemetry support 2019-11-26 12:14:13 +11:00
Randy Mackay
2cfdfb38e7 Copter: pre-arm check for Toshiba ESCs disabled with parameter flag 2019-11-26 11:56:33 +11:00
Peter Barker
bd7dfd0aea ArduCopter: use enum-class for SRV_CHANNEL_LIMIT_TRIM and friends 2019-11-26 10:17:17 +11:00
Andrew Tridgell
68bb7a516b Copter: use HarmonicNotchDynamicMode enum class 2019-11-19 07:08:01 +08:00
Bogdan Grigoruta
5183703243 Copter: move Mode::auto_takeoff_run to takeoff.cpp 2019-11-18 09:14:08 +09:00
Randy Mackay
496989820e Copter: update proximity sensor at 200hz 2019-11-15 12:25:53 +08:00
Randy Mackay
610366e4bd Copter: init aux function cases in alphabetical order 2019-11-12 18:56:13 +11:00
Peter Barker
5d1261da73 Copter: rename parameter to avoid name conflict with lock 2019-11-12 16:33:12 +11:00
Henry Wurzburg
4a51de724d Copter: move support for ADSB Avoidance enable up to RC_Channel 2019-11-12 13:48:09 +11:00
Randy Mackay
adc1d60ea5 Copter: CTUN logging fix for SAlt 
sonar altitude was not being logged in modes that don't use surface tracking including Auto
SAlt scaling was also incorrect
 2019-11-12 09:10:21 +08:00
Randy Mackay
b16d0740c8 Copter: fix CTUN log msg TAlt scaling 2019-11-12 09:10:21 +08:00
Randy Mackay
de5945bea5 Copter: use const reference when retrieving wpnav destination 2019-11-12 08:50:05 +08:00
Randy Mackay
d0d07776ec Copter: auto stays in takeoff submode after reaching altitude 2019-11-12 08:50:05 +08:00
Peter Barker
afdded2bff Copter: adjust for renaming of RangeFinder files 2019-11-12 07:14:37 +08:00
Randy Mackay
5276e67cec Copter: minor format fix for takeoff.cpp 2019-11-11 17:19:28 +09:00
Leonard Hall
ffd838d908 Copter: Delay release of I term until take off 2019-11-09 09:40:10 +08:00
Peter Barker
dfc8349866 Copter: use enum-class for RangeFinder Status 2019-11-09 08:01:53 +11:00
Mark Whitehorn
6dd28f7d74 ArduCopter: change in_sensor_config_error to in_config_error 2019-11-08 10:14:34 +11:00
bnsgeyer
b5d21a71ef Copter:Tradheli treat Sport mode as non-man throttle for landing swash 2019-11-06 16:36:35 +11:00
Peter Barker
201adb6818 Copter: correct Heli compilation when some modes are disabled 2019-11-06 16:36:35 +11:00
Peter Barker
d1b402ab04 Copter: correct compilation with toymode enabled 2019-11-06 16:36:35 +11:00
Peter Barker
0ab9ddd600 Copter: correct compilation when fence disabled 2019-11-06 16:36:35 +11:00
Peter Barker
843e48c635 Copter: correct compilation when avoidance disabled 2019-11-06 16:36:35 +11:00
Peter Barker
94222d0195 Copter: correct compilation when rangefinder tilt correction disabled 2019-11-06 16:36:35 +11:00
Peter Barker
81f0141da5 Copter: correct compilation when AdvancedFailsafe is disabled 2019-11-06 16:36:35 +11:00
Peter Barker
d652bd4455 Copter: correct compilation when optical flow is disabled 2019-11-06 16:36:35 +11:00
Peter Barker
38d3c2daa1 Copter: stop providing current location to mount 2019-11-05 19:55:45 +11:00
Peter Barker
976acb3a58 Copter: let GCS superclass specify compass and param float capabilitiy 2019-11-05 11:26:23 +11:00
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
Randy Mackay
105b7d79e1 Copter: 4.0.0-rc2 release notes 2019-11-04 15:56:47 +09:00
Matt Lawrence
f71ef4c7ab Copter: Refactor failsafes, add fs_options bitmask parameter 
- Radio failsafe, battery failsafe, GCS failsafe refactoring
- Add new FS_OPTIONS parameter
- Enhance GCS Failsafe abilities
 2019-11-03 07:07:34 +08:00
Andrew Tridgell
93671445d6 ArduCopter: moved AC_PID dependency to core 2019-11-02 16:31:04 +11:00
Randy Mackay
527e76a047 Copter: add pre-arm check that ToshibaCAN ESCs are present 2019-11-01 16:09:52 +08:00
Peter Barker
5ece75a09a Copter: AC_AutoTune writes events itself now 2019-11-01 14:47:52 +08:00
Leonard Hall
e7f94fc810 Copter: limit ATC_MOT_MIX_MAX in case of a fly away 2019-10-31 12:23:48 +08:00
Peter Barker
7944692de6 Copter: Proximity uses rangefinder singleton 2019-10-31 11:58:15 +08:00
Peter Barker
2a312aa8f1 Copter: stop passing serial manager to proximity constructor 2019-10-31 11:58:15 +08:00
Andy Piper
ac071df104 ArduCopter: add support for BLHeli telemetry-based updates to the harmonic notch 
refactor to include RPM for all copter types
 2019-10-31 11:18:40 +08:00
Randy Mackay
f0084f743d Copter: fix PSC_ACCZ_FILT to _FLTE param conversion 2019-10-29 12:25:57 +08:00
Randy Mackay
1aabbae8bc Copter: update 4.0.0-rc1 release notes 2019-10-26 10:44:10 +09:00
Randy Mackay
42d8bcc44f Copter: 4.0.0-rc1 release notes 2019-10-26 10:44:08 +09:00
Peter Barker
b6920e14c8 Copter: remove redundant SurfaceTracking enumeration namespacing 
Also rename State to Surface to be more specific about what is being
set/tracked.
 2019-10-26 08:08:22 +08:00
Randy Mackay
85f963b961 Copter: multicopter ATC_RAT_RLL/PIT_FILT copied to FLTD and FLTT 2019-10-25 12:28:00 +08:00
Michael du Breuil
b42b1c08c4 Copter: Support new AP_Vehicle::set_mode 2019-10-25 08:48:22 +08:00
Peter Barker
9c57862ec6 Copter: use ahrs singleton to log ATT, POS and AHRS2 2019-10-24 13:15:46 +11:00
Randy Mackay
8724e2f160 Copter: minor comment change 2019-10-22 07:15:48 +08:00
Peter Barker
f7ba79e493 Copter: canonicalize on STANDBY rather than STANDY_BY 2019-10-21 21:22:17 +08:00
Peter Barker
198c93e479 Copter: correct use of nanf 2019-10-18 13:52:07 +09:00
Randy Mackay
7b0da89708 Copter: add vibration check 2019-10-18 11:15:25 +09:00
Leonard Hall
50a098c359 Copter: Standby functions 2019-10-17 14:57:18 +09:00
Peter Barker
1968a4cfb1 Copter: correct compilation when SYSTEMID mode is disabled 2019-10-16 15:36:04 +11:00
Andrew Tridgell
faa4f57e61 Copter: remove AP_ADSB from wscript 2019-10-16 13:13:24 +11:00
Randy Mackay
2cb3e446ab Copter: systemid mode formatting and name changes 2019-10-16 08:17:09 +09:00
Leonard Hall
c11f2247eb Copter: System ID mode 2019-10-16 08:17:09 +09:00
Leonard Hall
91be844b66 Copter: Let modes stop Attitude Logging 2019-10-16 08:17:09 +09:00
Andy Piper
7fd22f63a9 ArduCopter: allow logging of both IMU and IMU_RAW 
allow logging of both IMU and IMU_RAW at the same time so that filtering and errors can be seen
 2019-10-15 10:10:32 +11:00
Randy Mackay
36327d56de Copter: reject reboot request from GCS if auto esc cal on next reboot 
this resolves an edge case in which the motors could spin up on the next reboot because the user didn't unplug the battery to reboot the flight controller
 2019-10-15 07:41:44 +09:00
Andy Piper
8ce7f02167 ArduCopter: add functions to update dynamic notch frequency. Periodically log the frequency. 
tradheli- make RPM sensor input to harmonic notch in hertz
 2019-10-10 20:26:02 +09:00
Peter Barker
9e5d5c023c Copter: move many members up to base class 2019-10-08 11:26:04 +11:00
Peter Barker
95f81297d9 Copter: become an AP_Vehicle 2019-10-08 11:26:04 +11:00
Peter Barker
bfbb482919 Copter: remove bogus ARMING_CHECK_NONE 'bitmask value' 2019-10-08 10:31:07 +11:00
murata
abb91fc33a Copter: Change external button specification to option 
Copter: Change the definition name from BUTTON to BUTTON_ENABLED.
 2019-10-08 08:09:19 +09:00
Randy Mackay
ca92f0505e Copter: follow mode restores offsets to zero on exit 2019-10-07 08:30:45 +09:00
chobits
5a0fe4e322 Copter: do not speed up EKF failsafe if optflow works 2019-10-04 11:15:38 +09:00
Randy Mackay
6e27d49f24 Copter: add pre-arm check of PILOT_SPEED_UP param 2019-10-03 07:16:35 +09:00
Randy Mackay
9464a429f8 Copter: 3.6.11 release notes 2019-10-02 06:38:59 +09:00
Randy Mackay
9d5cbbe58f Copter: restore range finder updates to 20hz 2019-09-28 11:13:14 +09:00
Randy Mackay
a5d0f55bdc Copter: upward surface tracking never closer than avoidance margin 2019-09-28 11:13:14 +09:00
Randy Mackay
1c4f47f882 Copter: add upward facing surface tracking 2019-09-28 11:13:14 +09:00
Randy Mackay
5d24d0e4dd Copter: surface tracking always includes ekf alt error when setting target rangefinder alt 2019-09-28 11:13:14 +09:00
Randy Mackay
d5d7fbe761 Copter: rangefinder glitch detection moved to read_rangefinder 2019-09-28 11:13:14 +09:00
Randy Mackay
808efa4c79 Copter: surface tracking format fixes 2019-09-28 11:13:14 +09:00
Randy Mackay
d41e7dcbee Copter: move surface tracking implementation to surface_tracking.cpp 2019-09-28 11:13:14 +09:00
Randy Mackay
b54cf410ef Copter: increase read_rangefinder to 50hz 2019-09-28 11:13:14 +09:00
Peter Barker
4d6dc9b0a7 Copter: call periodic fence update function 2019-09-28 07:58:48 +09:00
Peter Barker
e5fa8f622b Copter: initialise AC_Fence library 2019-09-28 07:58:48 +09:00
bnsgeyer
aef04fd924 Copter: tradheli update conversion 2019-09-25 14:59:02 +09:00
Andrew Tridgell
328fff8585 Copter: fixed RC failsafe handling for no RC receiver 
this stops us using uninitialised values in modes like circle which
can operate either with or without RC input. If we didn't have a RC
receiver attached then they would use a maximum yaw rate (which
produces quite a spectacular result for a tuned up racing quad)
 2019-09-24 10:00:36 +10:00
Peter Barker
a5f4a102d7 Copter: stop compiling in AP_Buffer 2019-09-24 09:36:33 +10:00
Randy Mackay
5a1a10b03f Copter: update 3.6.11-rc1 release notes 2019-09-23 13:39:34 +09:00
Randy Mackay
23e92d4fa5 Copter: 3.6.11-rc1 release notes 2019-09-23 13:39:30 +09:00
Andrew Tridgell
c40e0ffb6b Copter: fixed EKF threshold for arming 
when EKF failsafe is disabled by setting threshold to zero we need to
disable this arming check
 2019-09-23 09:48:39 +09:00
Peter Barker
9b398e8765 Copter: remove stale enum entries for log message types 2019-09-18 15:02:57 +10:00
Peter Barker
0031deb175 Copter: correct abs vs fabsf usage in Attitude 2019-09-18 12:57:02 +10:00
Peter Barker
a1ce8dafb0 Copter: wrap_180_cd no longer returns floats for integer arguments 2019-09-18 12:57:02 +10:00
Randy Mackay
cba03da59a Copter: version to 4.0.0-dev 2019-09-17 11:39:47 +09:00
Randy Mackay
bce5154b2d Copter: compassmot and motor_test set_soft_armed 2019-09-17 11:26:57 +09:00
Peter Barker
1b29cf14a6 Copter: remove get_advanced_failsafe override; singleton to be used 2019-09-17 09:13:43 +10:00
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
bnsgeyer
23d4473f88 Copter: tradheli-properly upgrade rsc parameters 2019-09-13 08:53:54 +09:00
Randy Mackay
1818360519 Copter: land mode inits auto yaw 2019-09-12 09:20:39 +09:00
Randy Mackay
8a20d37799 Copter: zigzag smoother stops on terrain failure 2019-09-11 19:41:35 +09:00
Randy Mackay
6ddaf81439 Copter: param conversion for INS_NOTCH_FREQ and BW 2019-09-11 18:41:05 +10:00
bnsgeyer
f84dac85ea Copter: tradheli-dualheli swashplate type upgrade conversion fix 2019-09-10 15:02:34 +09:00
bnsgeyer
a849aab4c7 Copter: tradheli-singleheli swashplate type upgrade conversion fix 2019-09-10 15:02:34 +09:00
Peter Barker
e497b13b4a Copter: remove ineffective DEVO_TELEM_ENABLED 2019-09-04 17:47:33 +10:00
Peter Barker
ab7b4616ff Copter: let GCS base class handle fence sys_status bits 2019-09-03 09:12:24 +10:00
Peter Hall
e1b982c99c Copter: RC_Channel: remove fence 2019-09-02 11:03:27 +09:00
Peter Barker
a9ffe902f0 Copter: mount uses AP_SerialManager singleton 2019-08-28 06:55:28 +10:00
Peter Barker
0ce3cd06b0 Copter: fix compilation when drift mode is disabled 2019-08-27 09:43:47 +10:00
Leonard Hall
8b7fe2ac12 Copter: Acro_Balance update 2019-08-23 10:59:29 +09:00
Peter Barker
87a1efeb45 Copter: add assertion that guided is enabled if guided-nogps is enabled 2019-08-22 17:47:45 +01:00
Peter Barker
f8f5e7f5ae Copter: correct compilation when guided mode is disabled 2019-08-22 17:47:45 +01:00
Peter Barker
3c6b67349f Copter: correct build when AFS disabled 2019-08-22 10:49:43 +09:00
Peter Barker
c0774e74e0 Copter: fix format-string compilation warning 
../../ArduCopter/mode_auto.cpp: In member function 'void ModeAuto::do_nav_delay(const AP_Mission::Mission_Command&)':
../../ArduCopter/mode_auto.cpp:1372:84: warning: format '%u' expects argument of type 'unsigned int', but argument 4 has type 'long unsigned int' [-Wformat=]
     gcs().send_text(MAV_SEVERITY_INFO, "Delaying %u sec",nav_delay_time_max_ms/1000);
                                                                                    ^

This is with a mini-pix build.
 2019-08-21 18:48:45 +09:00
Tom Pittenger
0983a04d52 Copter: NAV_Delay variable timers to be all unsigned and labeled as _ms 2019-08-19 15:24:06 -07:00
Peter Barker
4b870d752f Copter: fix toy-mode build 
handle_message changed signature a few months ago but this is protected
by pragmas such that it is only ubild on SkyViper
 2019-08-19 14:36:16 +10:00
Peter Barker
b9a387ed9e Copter: stop updating sensor status flags 
These are updated as required in the gcs library itself.
 2019-08-17 17:45:03 +10:00
Randy Mackay
709c874d8b Copter: integrate AP_OAPathPlanner 2019-08-17 09:42:43 +09:00
Peter Barker
48a1b2f436 Copter: avoid allocate a GCS_MAVLINK per mavlink channel 2019-08-14 18:25:43 +10:00
Randy Mackay
a3bde4f054 Copter: pre-arm check for ToshibaCAN ESC pwm range 2019-08-14 13:29:14 +09:00
Peter Barker
4fa83ed40d Copter: move automatic declination setting into AP_Compass itself 2019-08-13 10:02:13 +10:00
Randy Mackay
41f538e039 Copter: simplify DEVO_TELEM_ENABLED definition 2019-08-09 23:07:06 +09:00
Peter Barker
c0e8d319c6 Copter: make surface tracking adjust_climb_rate take a float 
Its callers all pass in floats and we return a float, so stop going via
an int16_t
 2019-08-06 14:09:09 +09:00
Peter Barker
b0428f0fe8 Copter: make surface_tracking a class, various functions methods 2019-08-06 14:09:09 +09:00
Bill Geyer
c8b547a8e4 Copter: tradheli-remove snprintf statements 2019-08-06 08:24:59 +09:00
bnsgeyer
5eb5277f4c Copter: tradheli-converts swashplate to H3-120 on upgrade based on old params 2019-08-06 08:24:59 +09:00
Peter Barker
6f4167b85b Copter: pass format string through to check_failed 2019-08-05 14:18:05 +10:00
hoangthien94
6d8a1bbe81 Copter: bypass compass healthy check when ext nav data is available for heading 2019-08-03 08:44:11 +09:00
Peter Barker
18de327e7f Copter: tighten type on mavlink_coordinate_frame_to_location_alt_frame 2019-08-01 17:45:30 +10:00
Peter Barker
5538800ad0 Copter: use MAV_FRAME_GLOBAL instead of MAV_FRAME_GLOBAL_INT in send_position_target 2019-07-30 10:55:21 +10:00
liang
e422f2b2fd Copter: mode_auto: retract the landing gear automatically 2019-07-30 09:46:18 +09:00
Michael du Breuil
599a1af5c1 Copter: Convert ARMING_CHECK 2019-07-30 10:42:16 +10:00
Michael du Breuil
ed2ae707f4 Copter: Add keydump feature 2019-07-30 10:42:16 +10:00
Randy Mackay
8e095d4a81 Copter: avoid terrain failsafe from a single out-of-range rangefinder reading 2019-07-29 16:01:52 +09:00
Randy Mackay
67ff96d8de Copter: 3.6.10 release notes 2019-07-29 12:34:26 +09:00
Leonard Hall
f128e93ec5 Copter: support for upgrade to PID object 2019-07-25 17:38:15 +09:00
Leonard Hall
157f786adf Global: rename desired to target in PID info 2019-07-25 17:38:15 +09:00
Randy Mackay
eed19a9262 Copter: 3.6.10-rc2 release notes 2019-07-22 18:19:41 +09:00
Randy Mackay
eb433508f1 Copter: esc cal startup check moved outside rc output init 
this ensures we don't accidentally enter esc calibration during motor test
 2019-07-22 14:53:36 +09:00
Leonard Hall
c56acb49d6 Copter: Add missing Loiter initialisation lines. 
This command is missing to define the desired acceleration that loiter will initalise to.
loiter_nav->clear_pilot_desired_acceleration();
 2019-07-20 16:40:51 +09:00
misswhile
15a326bade Copter: fixed can't enter esc calibration by RC. 2019-07-18 16:54:16 +09:00
Leonard Hall
0e34d8b1ff Copter: PosHold fix for low brake_rate 2019-07-18 11:13:51 +09:00
Randy Mackay
b7a748df88 Copter: auto's wp_start accepts terrain alts 2019-07-18 09:01:09 +09:00
Pierre Kancir
c330b87592 ArduCopter: pass mavlink_message_t by const reference 2019-07-16 20:51:42 +10:00
Michael du Breuil
e0d7b71e95 Copter: Reduce dependency on inertial nav 2019-07-16 12:11:42 +09:00
Peter Barker
97bb846310 Copter: RangeFinder uses AP_SerialManager singleton 2019-07-16 09:29:48 +10:00
Peter Barker
9412075b9c Copter: avoidance no longer takes ahrs in constructor 2019-07-16 09:29:48 +10:00
Peter Barker
4b51239920 Copter: move mission reset aux switch option to RC_Channel 2019-07-16 09:24:18 +10:00
Michael du Breuil
b07d65c1f3 Copter: Refactor battery current monitoring 2019-07-14 00:28:00 -07:00
Peter Barker
eb9e65fd28 Copter: add GUIDED_NOGPS to failsafe checks 2019-07-10 16:55:23 +09:00
Peter Barker
567ba799f1 Copter: rewrite gcs-failsafe check for clarity 2019-07-10 16:55:23 +09:00
Peter Barker
6435a867f5 Copter: split RC_CHANNELS messages onto separate ap_message ids 2019-07-09 13:08:45 +10:00
Peter Barker
332e878bae Copter: correct nullptr dereference in sensor-config error loop 2019-07-09 10:01:23 +10:00
Peter Barker
e977fce3ad Copter: stop passing relay and ahrs into camera constructor 2019-07-09 09:32:39 +10:00
Peter Barker
05925b57ad Copter: mark position_ok methods as const 2019-07-09 09:26:45 +10:00
Randy Mackay
4d19d65047 Copter: 3.6.10-rc1 release notes 2019-07-08 14:26:43 +09:00
Peter Barker
cd2ec1f57f Copter: remove set_default_dead_zone statement with no effect 
This is immediately undone in the unconditional code below the #if
 2019-07-08 09:26:02 +09:00
Peter Barker
ebbd2b971b Copter: correct compilation under toymode 2019-07-08 09:55:46 +10:00
Peter Barker
40a3bf94f4 Copter: EKF logging moved into EKF from logger 2019-07-06 19:05:51 +10:00
Peter Barker
eb82126758 Copter: ServoRelayEvents uses Relay singleton 2019-07-03 23:59:24 -07:00
Peter Barker
bf6f10e448 Copter: Arming: ensure frame class is appropriate for build FRAME_CONFIG 2019-07-04 10:05:01 +09:00
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
478c62b5ac Copter: stop setting beacon in AHRS 2019-07-01 07:20:58 +09:00
Peter Barker
fab17ba3bf Copter: add sanity check when fetching GCS_MAVLink instance 2019-06-27 07:54:45 +10:00
Michael du Breuil
242096b65e Copter: Send a heartbeat on mode change 2019-06-26 12:58:18 -07:00
hoangthien94
b741639002 GCS_Copter: Fixed precland condition to set SENSOR_VISION_POSITION flag 2019-06-25 09:42:45 +08:00
Peter Barker
b0beca7b01 Copter: allow GCS MAVLink base class to handle out-of-time for sending messages 2019-06-25 10:29:40 +10:00
Peter Barker
db2aff56c0 Copter: remove pointless protocol parameter to setup_uart 2019-06-25 09:47:08 +10:00
Peter Barker
5278919463 Copter: stop pointlessly passing serial manager around 2019-06-25 09:47:08 +10:00
Peter Barker
f3c1791341 Copter: stop passing gcs chan into method which wants an object 2019-06-25 09:45:54 +10:00
Jaaaky
5ce185e4ac ArduCopter: convert to unix style end-of-line 2019-06-19 16:39:09 +09:00
Michael du Breuil
df37a3d603 Copter: Remove wrapper around MAVLink send heartbeat 2019-06-18 13:59:52 +01:00
Michael du Breuil
c612291a47 Copter: Enable scripting parameters 2019-06-18 00:06:32 -07:00
Peter Barker
9ac9b9ce00 Copter: set os_sw_version to date fw was compiled 
Also avoids non-trivial-designator compilation error
 2019-06-18 10:54:01 +10:00
Peter Barker
e3da6d69d5 Copter: mode_auto: don't set takeoff dest from bad current location 2019-06-18 09:07:56 +09:00
Michael du Breuil
bd904f890f Copter: Update for AFS interface 2019-06-18 10:02:05 +10:00
Rishabh
00f6dc9b05 Copter: brake moved in from AC_WPNav 2019-06-13 09:02:46 +09:00
Andrew Tridgell
7c44ad04b6 Copter: check for EKF lane switch to avoid EKF failsafe 
this fixes an issue with mismatch between the EKF lane switch
threshold and the copter EKF failsafe threshold
 2019-06-12 09:52:20 +10:00
SergeyBokhantsev
300ee173ce Copter: fix user aux functions 2019-06-11 10:28:15 +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
Andrew Tridgell
01a0d3897e Copter: fixed HAL_MINIMIZE_FEATURES build 2019-06-06 12:19:13 +10:00
Peter Barker
5985579383 Copter: stop setting AC_Avoid in AC_WPNav; it uses singleton now 2019-06-06 11:47:22 +10:00
Peter Barker
33daef2f33 Copter: merge ArduCopter.cpp and Copter.cpp 2019-06-04 10:41:26 +09:00
Bill Geyer
4492727878 Copter: tradheli-comments added to new Heli Acro code 2019-06-04 09:57:13 +09:00
ChristopherOlson
e13ff6c398 Copter: Parameters TradHeli Acro - add description for setting of virtual flybar 2019-06-04 09:57:13 +09:00
ChristopherOlson
8d43e828cf Copter: TradHeli - minor code format fix 2019-06-04 09:57:13 +09:00
Bill Geyer
0c64cdc565 Copter: TradHeli - add virtual flybar to heli acro flight mode 2019-06-04 09:57:13 +09:00
1iggy2
3c4bac7c97 Copter: added I frame for octa 2019-06-04 09:49:44 +09:00
Peter Barker
3e098df65a Copter: move common proximity pre-arm checks up 
It will not be possible to arm if a proximity sensor has been configured
but is not working after this patch.

The can't-arm-when-within-60cm-of-something check can still be disabled
with the PARAMETER arming check bit.
 2019-06-04 08:45:34 +09:00
Peter Barker
9f6b48b743 Copter: remove unneeded initialisation 2019-06-03 16:48:38 +09:00
Peter Barker
fa150bc982 Copter: remove loop-initialisation of output 
Use brace initialisation instead.  This is the only loop in here which
loops over the max number of compasses vs the number of compasses.
 2019-06-03 12:54:17 +09:00
bnsgeyer
4120e29614 AP_Motors: Tradheli-complete conversion of throttle curve params to percent 
add conversion for throttle curve params for upgrade
 2019-06-03 07:53:01 +09:00
ChristopherOlson
9d03b44cf7 Copter:Heli - governor set_rpm call independent of frame type 2019-06-03 07:53:01 +09:00
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
Peter Barker
a5c18ff8f5 Copter: move vehicle_initialised to be on GCS not GCS_MAVLink 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
3e0ec99100 Copter: fill Notify flag for flying 2019-03-19 14:39:14 +11:00
Peter Barker
227f6499d3 Copter: mark vtol_state and landed_state methods as override 2019-03-19 10:32:50 +11:00
Peter Barker
366051c39f Copter: use enum class for AltFrame enumeration 2019-03-19 10:31:18 +11:00
Peter Barker
85d9dd6f64 Copter: move sending of RPM message up 2019-03-16 10:33:01 +09:00
Randy Mackay
467e8481fb Copter: minor formatting fix to ekf failsafe check 2019-03-15 15:44:01 +09:00
chobits
6bee4216c0 Copter: speed up EKF failsafe by checking if velocity innovations > 2x FS_EKF_THRESH 2019-03-15 15:36:13 +09:00
Bill Geyer
c40312d0f9 Copter: fix to acro trainer leveling mode 2019-03-15 15:26:24 +09:00
Randy Mackay
e57ec068f0 Copter: remove duplicate guided limit-init-time-and-pos 
this is called from nav_guided_start()
 2019-03-15 14:51:35 +09:00
Randy Mackay
8d66c5f547 Copter: move do_payload_place handler 
commands are placed in numerical order
 2019-03-15 14:51:35 +09:00
Peter Barker
6d87b9316f ArduCopter: compass init never fails 2019-03-13 13:06:50 +11:00
Peter Barker
f189860162 Copter: use enum class for ArmingMethod and ArmingRequired 2019-03-12 19:48:14 +11:00
Peter Barker
281dbfcef8 Copter: support send_extended_sys_state 2019-03-12 09:16:13 +09:00
Peter Barker
7b6fef16aa Copter: remove redundant PreArm: in check_failed calls 2019-03-08 08:57:53 +09:00
Peter Barker
cc8912255e Copter: move checking of fence up 2019-03-08 08:57:27 +09:00
Randy Mackay
ead3682e4c Copter: correct ACRO_YAW_P param description 
this parameter applies to all flight modes
 2019-03-06 14:42:59 +09:00
Randy Mackay
938868cc03 Copter: 3.6.7 release notes 2019-03-06 14:24:25 +09:00
Peter Barker
cac87b8e0b Copter: use attitude and position controller prearm checks 2019-03-06 10:36:32 +09:00
Peter Barker
4f69eefd4a Copter: remove unused includes 2019-03-05 13:19:29 +09:00
Peter Barker
eed73749f9 Copter: move sending of send_pid_tuning up 2019-03-05 10:41:56 +11:00
Michael du Breuil
cac4b91671 Copter: Allow scripting to run 2019-03-05 08:45:54 +11:00
Peter Barker
7c05364612 Copter: reindent mode init functions (NFC) 2019-03-01 13:43:20 +09:00
Peter Barker
fab2d59a1c Copter: move check for position up 2019-03-01 13:43:20 +09:00
Peter Barker
e744df585c Copter: avoid int32_t<->float conversions 2019-03-01 12:09:58 +11:00
Dr.-Ing. Amilcar Do Carmo Lucas
f1e43979ab ArduCopter: NFC small renames and comment improvements 2019-03-01 09:15:24 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
08124faab4 Copter: replace location_offset() and get_distance() function calls with Location object member function calls 
This allows removing duplicated code
 2019-02-28 11:44:09 +11:00
Randy Mackay
a90f94d5a7 Copter: 3.6.7-rc1 release notes 2019-02-28 09:15:44 +09:00
Randy Mackay
384bca9482 Copter: stop at waypoint depending upon next command 2019-02-27 13:30:40 +09:00
Randy Mackay
a903c91c40 Copter: remove unused auto_spline_start declaration 2019-02-27 13:30:40 +09:00
IamPete1
ba3d1bc6c7 Copter: move E-stop state to SRV_Channel 2019-02-27 08:51:24 +09:00
Peter Barker
2c814e9de2 Copter: get_alt_above_ground to get_alt_above_ground_cm 2019-02-26 19:31:41 +09:00
Andrew Tridgell
ef3306d408 Copter: fixed crash on mavlink send before pos_control is allocated 2019-02-26 16:18:26 +11:00
Peter Barker
a48f461158 Copter: remove position-vector methods 
Both were used in just one place
 2019-02-26 14:09:21 +11:00
Arjun Vinod
d02d897928 Copter: make LOITER_TIME send "Reached command" message to GCS 2019-02-26 10:19:37 +09:00
Arjun Vinod
8044d98382 Copter: do an early-return if the time hasn't been reached 2019-02-26 10:14:56 +09:00
murata
8644f4d76e Copter: Disable option code 
Copter: Revert change

Copter: Change mistakes
 2019-02-26 10:00:00 +09:00
Peter Barker
693873fd04 Copter: AHRS set_orientation renamed to update_orientation 2019-02-26 10:28:09 +11:00
Peter Barker
8e1b48ef1e Copter: use height-above-ground for landing gear deployment 2019-02-26 08:21:32 +09:00
Peter Barker
66416a5289 Copter: make toymode parameter descriptions consistent 
Also correct "home button" -> "left (Mode button)"
 2019-02-22 11:36:28 +09:00
Peter Barker
4187243e5c Copter: Rally no longer takes ahrs in constructor 2019-02-20 18:03:38 +11:00
Peter Barker
c622645ff1 Copter: move update_sensor_flags to GCS_Copter.cpp 2019-02-20 11:57:00 +11:00
Peter Barker
5ff80e06d1 Copter: move update_sensor_status_flags into GCS subclasses 2019-02-19 14:09:59 +11:00
Peter Barker
039aa3f3b3 Copter: move sensor flags to be a GCS thing rather than a GCS_MAVLINK thing 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
Randy Mackay
6b0456e3ac Copter: 3.6.6 release notes 2019-02-16 08:47:18 +09:00
Peter Barker
0dce6172f2 Copter: use visual odometry singleton 2019-02-15 16:56:13 +11:00
Peter Barker
31f796f0c5 Copter: remove unused scaleLongDown member 2019-02-15 11:45:13 +09:00
Peter Barker
13db459f49 Copter: remove redundant home-setting sanity checks 2019-02-15 08:28:45 +11:00
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
228d7b676d Copter: move responsibility for parachute deployment up 2019-02-13 09:25:27 +09:00
Peter Barker
270fa2dfb9 Copter: move handling of command-int MAV_CMD_DO_SET_HOME up 2019-02-13 09:42:26 +11:00
Peter Barker
a0189d6060 Copter: AP_Frsky_Telem uses singletons 2019-02-12 17:53:23 +00:00
Peter Barker
5f152378fd Copter: dataflash always emits rally points at startup 2019-02-12 11:48:55 +11:00
Peter Barker
3765bae5e0 Copter: remove checking for coordinate frames 
This is very much NFC.  This change uncovers previous dead code in the
case that we are not ignoring yaw.
 2019-02-12 09:07:50 +09:00
Peter Barker
243cf690da Copter: use altitude frame mapping function 2019-02-12 09:07:50 +09:00
Tom Pittenger
b8ee535fb4 Copter: unify singleton naming to _singleton and get_singleton() 2019-02-10 19:09:58 -07:00