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4834 Commits

Author SHA1 Message Date
Leonard Hall 3349e24492 Copter: fix autotune unit conversions for step sizes 2016-08-08 11:24:42 +09:00
Randy Mackay 5255f55cc3 Copter: add comments to RTL's compute return target 2016-08-06 14:01:39 +09:00
Randy Mackay 68d3655195 Copter: fix rtl's use of rally point alt 
Thanks to OXINARF for spotting this
 2016-08-06 14:01:38 +09:00
Randy Mackay 57977e2d76 Copter: ensure RTL to rally point does not breach the altitude fence 
Previously we added the rally-point altitude to the calculated return altitude on the final line of this function meaning the fence's altitude check was not performed on the final value.  This change adds the rally-point altitude as the first step so it is included before the fence altitude check.
This change also converts the return alt to an alt-above-home so that it can correctly be compared to the fence (previously a terrain-altitude might have been compared to an alt-above home)
 2016-08-06 14:01:31 +09:00
Francisco Ferreira 43ad1f372d Copter: change function from computing return altitude to computing return target 
Also fix altitude for rally points
 2016-08-06 13:50:53 +09:00
Francisco Ferreira e732cda577 Copter: when calculating RTL return alt use rtl_path directly 
At the same time, fix bug: check return point for terrain and not origin twice
 2016-08-06 13:50:50 +09:00
Randy Mackay 5b5385715e Copter: manual modes set_land_complete to false 2016-08-05 13:36:39 +09:00
Randy Mackay c3d71f733c Copter: remove get_takeoff_trigger_throttle 
get_pilot_desired_climbrate can be used instead.
 2016-08-05 12:40:37 +09:00
Randy Mackay ac4f36a992 Copter: remove LAND_REQUIRE_MIN_THROTTLE_TO_DISARM feature 
This definition has been false for over a year and we have not heard of any users wanting to delay the disarming until the pilot's throttle goes to zero.  Removing this feature removes a small bit of complexity from the code.
 2016-08-05 12:40:37 +09:00
Randy Mackay d1e257d5b6 Copter: remove unused get_throttle_pre_takeoff 2016-08-05 12:40:37 +09:00
Randy Mackay cb5d3238cb Copter: poshold provides throttle feedback from mid-stick when landed 2016-08-05 12:40:37 +09:00
Randy Mackay 6d9d3c1458 Copter: autotune provides throttle feedback from mid-stick when landed 2016-08-05 12:40:37 +09:00
Randy Mackay 88da5bd453 Copter: sport mode restructured to match althold and feedback from mid-stick 
This modifies sport mode to be structured like althold and loiter flight modes so that ongoing maintenance of the modes is hopefully easier.
Also changes throttle feedback to occur from mid-stick
 2016-08-05 12:40:37 +09:00
Randy Mackay 53f0216269 Copter: sport - fix call to relax_alt_hold_controller 2016-08-05 12:40:37 +09:00
Randy Mackay 5061b29031 Copter: poshold - fix call to relax_alt_hold_controller 2016-08-05 12:40:37 +09:00
Randy Mackay aa4661835e Copter: brake - fix call to relax_alt_hold_controller 2016-08-05 12:40:37 +09:00
Leonard Hall 5b277f4fb5 Copter: autotune - fix call to relax_alt_hold_controllers 2016-08-05 12:40:37 +09:00
Leonard Hall 205bac91a1 Copter: loiter spin-up to throttle min (and remove a state) 2016-08-05 12:40:37 +09:00
Leonard Hall d9deab9e8e Copter: AltHold pilot feedback only spins up to min throttle 2016-08-05 12:40:37 +09:00
Leonard Hall 22422bd7b3 Copter: autotune bug fix to autotune_updating_p_up_d_down 
This resolves an issue in which the D term could be reduced far lower than
it should have been.
 2016-08-04 21:46:30 +09:00
Jonathan Challinger 80f3541933 Copter: add configurable arming delay 2016-08-04 15:19:22 +09:00
Jonathan Challinger 4a6cc75ebb Copter: whitespace change 2016-08-04 15:17:38 +09:00
Randy Mackay 595aea236a Copter: consolidate throw mode state into structure 2016-08-02 20:25:52 +09:00
Randy Mackay 381397c7bd Copter: set throw mode stage on init 2016-08-02 20:25:52 +09:00
Randy Mackay 807e930251 Copter: throw uses motor spooling instead of interlock 2016-08-02 20:25:52 +09:00
Randy Mackay f4f13bbe6b Copter: add throw mode logging 2016-08-02 20:25:52 +09:00
Randy Mackay 8c5c8eec44 Copter: minor throw mode comment fix 
No functional change
 2016-08-02 20:25:52 +09:00
Randy Mackay 8e58ea9277 Copter: add throw mode defines for required speed 
No functional change
 2016-08-02 20:25:52 +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 64ac18da6c Copter: move throw state into structure 
This makes it easier to add more state which is required for the follow throw_nextmode change
 2016-08-02 20:25:52 +09:00
Randy Mackay 40db19549e Copter: allow taking off in Guided mode's attitude control sub mode 2016-08-02 18:26:05 +09:00
Randy Mackay 4e92f08bf1 Copter: only accept attitude targets in Guided mode 2016-08-02 18:26:04 +09:00
Randy Mackay 1161417d7f Copter: add GUIDED_NOGPS flight mode 
This mode is a cut down version of Guided mode that only accepts attitude commands.
This mode does not require a GPS lock
 2016-08-02 18:25:59 +09:00
Gustavo Jose de Sousa f2dec971e7 waf: add "ap_" prefix to keywords "libraries" and "vehicle" 
As an effort to keep things specific to ardupilot API in the build system
consistent and easy way to identify.
 2016-08-01 22:04:16 -03:00
Jonathan Challinger 2c41459fe9 Copter: loosen accelerometer consistency check in z-axis 2016-07-29 14:08:14 +09:00
murata b1f204e2a6 Copter: use constrain_float for target_roll assignment 2016-07-29 13:35:27 +09:00
Lucas De Marchi c0b49f6aeb ArduCopter: Remove i2c lockup count 
This was returned only for a single bus and on all supported platforms
this is hardcoded to 0.
 2016-07-28 18:03:09 -03:00
mirkix e3934fac80 ArduCopter: Delete (wrong) filename out of header 2016-07-25 17:13:41 -03:00
Randy Mackay 49674abb21 Copter: guided mode's velocity controller stops before fence 2016-07-25 20:24:37 +09:00
Randy Mackay 7a6e0a981b Copter: simplify guided mode's velocity controller's accel limit calcs 2016-07-25 20:24:37 +09:00
Randy Mackay dc52f3b2df Copter: guided mode applies acceleration limits to velocity controller 2016-07-25 20:24:37 +09:00
Randy Mackay 866487608e Copter: rename guided mode's posvel controller target variables 
We will re-use these targets for the guided velocity controller
 2016-07-25 20:24:37 +09:00
Randy Mackay 6118bf1b14 Copter: remove adsb sensor library based avoidance 
adsb based avoidance has been moved to AP_Avoidance library
 2016-07-25 20:24:37 +09:00
Randy Mackay d50987f976 Copter: avoidance_adsb implements copter avoidance using ADSB 2016-07-25 20:24:37 +09:00
Randy Mackay df55704875 Copter: pre-arm check includes adsb failsafe 2016-07-25 20:24:37 +09:00
Randy Mackay 68899ed921 Copter: add adsb to failsafe structure and report in heartbeat to GCS 2016-07-25 20:24:37 +09:00
Randy Mackay f4db4bdb08 Copter: GCS_MAVLink passes packets to AP_Avoidance 
This allows treating GLOBAL_POSITION_INT packets from other vehicles in the same way as ADSB packets
 2016-07-25 20:24:37 +09:00
Randy Mackay 61844b3062 Copter: add AP_Avoidance to build 2016-07-25 20:24:37 +09:00
Andrew Tridgell 387da40fc5 ArduCopter: adjust for 16 channels in SERVO_OUTPUT_RAW 2016-07-25 10:06:02 +10:00
Tom Pittenger 07a838937e Copter: handle ADSB-Out packets 2016-07-22 13:38:37 -07:00
Andrew Tridgell cb5ca713a9 Copter: added AP_Button support 2016-07-22 15:01:20 +10:00
Andrew Tridgell e943a48eba Copter: added PLAY_TUNE message 2016-07-22 15:00:17 +10:00
Francisco Ferreira 90a4b36263 Copter: remove pre-arm check for rally points 2016-07-22 09:00:23 +09:00
Francisco Ferreira 25fefe77b7 Copter: add AP_Rally_Copter 
override default is_valid method so we can check if rally point is inside the fence, if it isn't we ignore it
 2016-07-22 09:00:18 +09:00
Tom Pittenger d136737c87 Copter: add ADSB-out support for copter 2016-07-20 22:46:54 -07:00
Randy Mackay 8681911a0b Copter: small fix to precision land descent rate 2016-07-12 18:40:25 +09:00
Jonathan Challinger a4827aff53 Copter: slow down precision landing descent based on position error 2016-07-12 18:40:25 +09:00
Jonathan Challinger e22220ab62 Copter: refactor landing to reduce duplication, use vertical vel ff 2016-07-12 18:40:25 +09:00
Jonathan Challinger e311139a21 Copter: use terrain alt for precland if rangefinder is unavailable 2016-07-12 18:40:25 +09:00
Jonathan Challinger 0f4367744f Copter: update precland at 400hz, log at 25hz 2016-07-12 18:40:25 +09:00
Allan Matthew 860773260f Copter: support GPS_INPUT mavlink message 2016-07-12 15:34:51 +09:00
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
Randy Mackay 877a144dea Copter: pre-arm check that rally points are within fence 2016-07-04 18:25:03 +09:00
Randy Mackay 2647bed484 Copter: guided mode uses modified check_destination_within_fence 2016-07-04 18:25:03 +09:00
Jonathan Challinger 91a5b26725 Copter: use simplified precland interface 2016-07-04 16:57:06 +09:00
Derek Ma 7fddf20f0b Copter: enable precision landing in auto mode 2016-07-04 16:57:06 +09:00
Randy Mackay 543d5701e7 Copter: remove unused log_write_startup 2016-07-04 11:17:16 +09:00
Randy Mackay 5d5a85c38e Copter: log rally points on startup 2016-07-04 11:17:14 +09:00
Andrew Tridgell 6737bc21b9 Copter: fixed typo 2016-07-01 15:34:48 +10:00
Andrew Tridgell b5ccd458d3 Copter: added 10Hz logging of controller RMS values 
as discussed with Leonard
 2016-06-29 14:43:44 +10:00
Randy Mackay 7edb6e76f0 Copter: set terrain capabilities only if terrain code is compiled in 
Thanks to OXINARF for finding this
 2016-06-27 17:11:06 +09:00
Randy Mackay 52d81f630f Copter: pass polygon fence mavlink messages to fence 2016-06-25 15:55:55 +09:00
Randy Mackay b61ae1a4a1 Copter: log EKF yaw reset event 2016-06-24 18:12:30 +09:00
Leonard Hall 07cadc7ddd Copter: rename limit_angle_to_rate_request to use_input_shaping 2016-06-24 17:17:18 +09:00
Leonard Hall 3b7658c502 Copter: land and crash detector use thrust angle error 
The thrust angle error is the difference between our desired thrust vector
and the actual thrust vector

Also some changes to use definitions in place of constants in the checks
 2016-06-24 17:17:18 +09:00
Leonard Hall 7d54c268f6 Copter: consolidate input_euler_angle calls to use smoothing gain 
Previously we had _smooth and non-smooth methods in the attitude
controller but as part of the move to quaternions these have been replaced
by a single call which always takes a smoothing gain
 2016-06-24 17:17:17 +09:00
Leonard Hall 75c4367cfc Copter: Change fabs to fabsf 2016-06-24 15:03:14 +09:00
Peter Barker 043b1d321d Copter: remove paths for documenation for non-multi frame 
Our current documentation system only emits one XML document (apm.pdef.xml)
for ArduCopter.

Since there is a conflict between parameters in the MOT_ namespace in Copter,
we only emit the documentation for the first parameter defining the MOT_ namespace.

This patch removes the documentation lines for frame types other than multicopter, meaning the documentation will reflect mutlictopter usage - the most common case.

These lines will need to be reinstated when we change the way we produce the xml documentation.
 2016-06-24 09:55:28 +09:00
Peter Barker 7742503ef3 Copter: include AC_AttitudeControl parameter documentation 2016-06-24 09:55:26 +09:00
Daniel Ricketts 87be8daf0e Copter: integrate AC_Avoidance library 2016-06-22 11:38:15 +09:00
Daniel Ricketts 5022a45495 Copter: add AC_Avoidance to build 2016-06-22 11:38:15 +09:00
Tom Pittenger 66d4caeeb0 Copter: add ADSB_streamrate 2016-06-19 11:24:33 -07:00
Leonard Hall 9864750336 Copter: rename CTUN desired_velocity to target_velocity 
No functional change
 2016-06-18 11:55:49 +09:00
Randy Mackay a614a17b3a Copter: log hover throttle in CTUN message 2016-06-18 11:55:49 +09:00
Randy Mackay 901e8cc23f Copter: convert THR_MIN to MOT_SPIN_MIN, THR_MID to MOT_THST_HOVER 2016-06-18 11:55:49 +09:00
Leonard Hall 48eb4cf674 Copter: remove THR_MID 2016-06-18 11:55:49 +09:00
Leonard Hall e9d8a28ec0 Copter: AP_Motor's throttle_hover replaces throttle_average 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
Randy Mackay 6a1bdebf25 Copter: remove THR_MAX definition for changing throttle input range 
We do not support changing the throttle input range from it's expected 0 ~ 1000
 2016-06-18 11:55:49 +09:00
Leonard Hall e08e112c6d Copter: land detector sets att vs thr priority in att controllers 2016-06-18 11:55:49 +09:00
Andrew Tridgell 86d8450666 Copter: use loop rate for copter 
this allows for SCHED_LOOP_RATE below 400 in SITL for copter
 2016-06-17 15:01:18 +10:00
Peter Barker 1fc4063117 Copter: correct TERRAIN_FOLLOW parameter comments 2016-06-08 17:35:20 +09:00
Andrew Tridgell 55ad1548e4 Copter: fixed heli rotor speed control from AP_Motors refactor 2016-06-04 16:22:19 +10:00
Tom Pittenger a96abde4bf Copter: do not log CURR.Throttle because it's already logged elsewhere 2016-06-02 16:59:11 -07:00
Tom Pittenger b433250da5 Copter: sanity check gps latlng 2016-06-01 17:38:50 -07:00
Randy Mackay 2815af81ad Copter: rename RTL_CONE_SLOPE_DEFAULT definition 
Also tiny formatting fix
 2016-05-31 12:20:21 +09:00
Peter Barker e977d85e0c Copter: move telemetry_delayed up into base class 2016-05-31 08:46:09 +10:00
Peter Barker 3cf174c343 Copter: move adjust_rate_for_stream up 2016-05-29 19:38:49 +10:00
Peter Barker bb19c57615 Copter: subclass GCS_MAVLink in place of defining its functions for it 2016-05-29 16:21:21 +10:00
Randy Mackay 5fb6e4edae Copter: 3.4-rc1 release notes 2016-05-28 15:45:32 +09:00
Randy Mackay be3b1cb6ab Copter: convert STB_ params to ATC_ANG_ 2016-05-28 15:45:30 +09:00
Andrew Tridgell 53fc095d4c Copter: fixed motor test build on heli 
pwm percent makes no sense
 2016-05-26 15:05:52 +10:00
Andrew Tridgell c605f09859 Copter: fixed motor test with percentage 
use motors min/max pwm, not throttle channel range
 2016-05-26 14:34:27 +10:00
Andrew Tridgell 146a59eed3 Copter: fixed ESC calibration on PixRacer 
we need to set the ESC scaling before we go into the calibration loop
or the outputs will never arm
 2016-05-25 19:35:17 +10:00
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 cb9ca94dd1 Copter: remove unused pv_location_to_vector_with_default 2016-05-25 16:19:42 +09:00
Randy Mackay 390d06a400 Copter: add and use FLIP_COMPLETE mode reason 
No need to use the original reason we entered flip mode as the reason we are exiting flip.  Instead we can use a new reason called FLIP_COMPLETE
 2016-05-25 16:15:34 +09:00
Andrew Tridgell 7e1ef905d3 Copter: removed 30ms delay on arming 
this is the last of the delays that can cause the EKF to get unhappy
on arming in copter. The comment says it is waiting for RC input, but
I don't think that makes any sense any more.
 2016-05-24 15:42:53 +10:00
Randy Mackay c9284e5f64 Copter: fix flip after throttle changed to 0 to 1 range 2016-05-24 11:31:40 +09:00
Randy Mackay f28666e7cd Copter: pass throttle for esc calibration in 0 to 1 range 2016-05-24 10:00:25 +09:00
Lucas De Marchi 33f5fc5f38 ArduCopter: remove support for flymaple 2016-05-23 21:49:45 -03:00
Andrew Tridgell a922b98ac0 Copter: use send_heartbeat wrapper 2016-05-21 15:25:18 +10:00
Andrew Tridgell 8913dc32b0 Copter: simplify UART setup 2016-05-21 15:25:16 +10:00
Andrew Tridgell 31866c66d8 Copter: always build with MAVLink2 headers 2016-05-21 15:25:15 +10:00
Andrew Tridgell 57870cccb9 ArduCopter: update signing timestamp on GPS lock 2016-05-21 15:25:13 +10:00
Andrew Tridgell b85f129cc5 ArduCopter: handle SETUP_SIGNING message 2016-05-21 15:25:12 +10:00
Randy Mackay 5461002eea Copter: read rangefinder at 20hz 2016-05-21 10:36:53 +09:00
Randy Mackay e6b3638d84 Copter: minor change to land mode's logic to use rangefinder 
No functional change
 2016-05-21 10:36:53 +09:00
Randy Mackay 8171532dc5 Copter: allow rangefinder to be disabled from definition 2016-05-21 10:36:53 +09:00
Randy Mackay e489c3184c Copter: rangefinder.enabled false if no range finders are configured 2016-05-21 10:36:53 +09:00
Randy Mackay 59070653cc Copter: provide filtered range finder altitude to AC_WPNav 2016-05-21 10:36:53 +09:00
Randy Mackay e18bf3af56 Copter: remove unused definitions 2016-05-21 10:36:53 +09:00
Randy Mackay 5ac13c0355 Copter: move rangefinder variables into structure 
moved in rangefinder_alt, rangefinder_alt_health and rangefinder_enabled
 2016-05-21 10:36:53 +09:00
Randy Mackay 70463dc572 Copter: auto_spline_start handles triggers terrain failsafe 
Also immediately exit auto_wp_start on terrain failsafe
 2016-05-21 10:36:53 +09:00
Randy Mackay 3688636736 Copter: RTL ignores terrain during terrain failsafe 2016-05-21 10:36:53 +09:00
Randy Mackay 273b9acad8 Copter: prearm check that RTL_ALT is below rangefinder max alt 
Only applies where terrain following is enabled and a range finder is connected
 2016-05-21 10:36:53 +09:00
Randy Mackay c7f80324fa Copter: tilt correct rangefinder 2016-05-21 10:36:53 +09:00
Randy Mackay ba38b0234f Copter: use rangefinder class's valid_range_count 
Also read_rangefinder directly updates rangefinder_alt variable instead of returning distance
No functional change
 2016-05-21 10:36:53 +09:00
Randy Mackay 949d5f7109 Copter: add rangefinder_alt_ok 
Reduces some duplicate code,no functional change.
 2016-05-21 10:36:53 +09:00
Randy Mackay 7689315ba2 Copter: rename sonar to rangefinder 2016-05-21 10:36:53 +09:00
Randy Mackay 028946ae9e Copter: rename CONFIG_SONAR to RANGEFINDER_ENABLE 2016-05-21 10:36:53 +09:00
Randy Mackay e0bf08abe0 Copter: fixes to guided mode target check is within fence 
guided altitude targets are converted to alt-above-home
remove unnecessary fence_status local variable from guided_set_destination methods
log failures to set guided target under a new failure code: ERROR_CODE_DEST_OUTSIDE_FENCE (5)
rename pv_get_home_destination_distance_mc to pv_distance_to_home_cm
 2016-05-21 09:56:12 +09:00
Saloni Jain bc22419286 Copter : Modified set_guided_destination() to reject requests for guided waypoints outside the fence. 2016-05-21 09:56:12 +09:00
Don Gagne 97d361333d ArduCopter: SET_SENSORS_OFFSETS support for third compass 2016-05-19 18:51:17 -03:00
Randy Mackay a9d16f3373 Copter: move auto's take-off check to beginning of auto_init 
This ensures there are no side-effects of a failed switch to AUTO like stopping the vehicle or affecting the yaw mode
 2016-05-19 19:43:24 +09:00
Niti Rohilla 26e41fee7a Copter: prevent Auto tipovers caused by missing takeoff command 2016-05-19 19:43:19 +09:00
Randy Mackay 793e3da904 Copter: rename variables used for NAV_DELAY command 2016-05-19 16:16:03 +09:00
Niti Rohilla 55f66b7696 Copter: Add support for MAV_CMD_NAV_DELAY 2016-05-19 16:16:02 +09:00
Andrew Tridgell e4948544e7 Copter: cleanup unnecessarily complex gcs[] usage 2016-05-17 08:27:35 +10:00
dgrat 3bc97ae356 ArduCopter: Do not use is_zero() for non-float types 
This function makes only sense for floating point types. However this
function was also used for ints.
 2016-05-16 19:08:35 -03:00
Ricardo de Almeida Gonzaga ce241dd97a ArduCopter: Fix typos 2016-05-13 19:20:07 -03:00
Francisco Ferreira 8fb318a6e1 Copter: fix do_loiter when executed in same location 2016-05-13 12:20:22 +09:00
Francisco Ferreira 8ce8551669 Copter: fix detection of 0 values for lat, lng and alt in waypoints 2016-05-13 12:20:20 +09:00
Randy Mackay 0732ad3957 Copter: add comments to set_land_complete 2016-05-13 12:01:38 +09:00
Jonathan Challinger 747344a8ba Copter: add disarm on land detect option to PILOT_THR_BHV 2016-05-13 11:57:48 +09:00
Randy Mackay cfb2a6b2f9 Copter: update brake-timeout to work with master 
We added mode-change reasons since PR was submitted
 2016-05-13 11:42:25 +09:00
Randy Mackay 0a2336a5a8 Copter: update solo-buttons to work with master 
Change was due to addition of reason codes since PR was first submitted
 2016-05-13 11:42:25 +09:00
Jonathan Challinger 67cd2bae08 Copter: implement SOLO_BTN commands 2016-05-13 11:42:25 +09:00
Jonathan Challinger c99cac773b Copter: add brake_timeout_to_loiter_ms 2016-05-13 11:42:25 +09:00
Andrew Tridgell bd3a58a727 Copter: fixed drift mode 
the throttle assistance gain also needs to be scaled by 1000x for new throttle range
 2016-05-13 08:48:55 +10:00
Andrew Tridgell 75d76ac3bd Copter: fixed scaling of old heli parms 2016-05-12 17:34:36 +10:00
dgrat 41661f815f AP_Math: Replace the pythagorous* functions with a variadic template 
The new function can deal with a variable number of function parameters.
Additionally, I renamed the functions to norm(), because this is the
standard name used in several other projects.
 2016-05-10 11:41:26 -03:00
dgrat 76362caee0 AP_Math: Replace wrap_* functions with template versions 2016-05-10 11:41:26 -03:00
skyscraper 4980c8bc94 ArduCopter: RC_Channel refactor 
More fixing up of RC_Channel change direct access to data members
to access via member functions.
 2016-05-10 16:21:16 +10:00
skyscraper 49d3410896 ArduCopter: fixup RC_Channel data member accesses to function calls 2016-05-10 16:21:16 +10:00
skyscraper 6f200fa923 ArduCopter: Fix up after refactoring RC_Channel class 
Further to refactor of RC_Channel class which included
adding get_xx set_xx methods, change reads and writes to the public members
to calls to  get and set functionsss

old public member(int16_t)   get function -> int16_t     set function (int16_t)
(expression where c is an object of type RC_Channel)
c.radio_in                     c.get_radio_in()           c.set_radio_in(v)
c.control_in                   c.get_control_in()         c.set_control_in(v)
c.servo_out                    c.get_servo_out()          c.set_servo_out(v)
c.pwm_out                      c.get_pwm_out()            // use existing
c.radio_out                    c.get_radio_out()          c.set_radio_out(v)
c.radio_max                    c.get_radio_max()          c.set_radio_max(v)
c.radio_min                    c.get_radio_min()          c.set_radio_min(v)
c.radio_trim                   c.get_radio_trim()         c.set_radio_trim(v);

c.min_max_configured() // return true if min and max are configured

Because data members of RC_Channels are now private and so cannot be written directly
 some overloads are provided in the Plane classes to provide the old functionality

new overload Plane::stick_mix_channel(RC_Channel *channel)
which forwards to the previously existing
void stick_mix_channel(RC_Channel *channel, int16_t &servo_out);

new overload Plane::channel_output_mixer(Rc_Channel* , RC_Channel*)const
which forwards to
(uint8_t mixing_type, int16_t & chan1, int16_t & chan2)const;

Rename functions

 RC_Channel_aux::set_radio_trim(Aux_servo_function_t function)
    to RC_Channel_aux::set_trim_to_radio_in_for(Aux_servo_function_t function)

 RC_Channel_aux::set_servo_out(Aux_servo_function_t function, int16_t value)
    to RC_Channel_aux::set_servo_out_for(Aux_servo_function_t function, int16_t value)

 Rationale:

        RC_Channel is a complicated class, which combines
        several functionalities dealing with stick inputs
        in pwm and logical units, logical and actual actuator
        outputs, unit conversion etc, etc
        The intent of this PR is to clarify existing use of
        the class. At the basic level it should now be possible
        to grep all places where private variable is set by
        searching for the set_xx function.

        (The wider purpose is to provide a more generic and
        logically simpler method of output mixing. This is a small step)
 2016-05-10 16:21:16 +10:00
Andrew Tridgell 3c9b063eb1 Copter: removed unnecessary libs 
now in common
 2016-05-10 14:13:35 +10:00
Andrew Tridgell 111eb2ccc1 Copter: use DataFlash::log_while_disarmed() 2016-05-09 12:05:52 +10:00
Leandro Pereira f23bd7e09d GCS_MAVLink: Use a single stream_trigger() implementation 
This has no side effects, but since all implementations were basically
the same, move the implementation to GCS_Common and the only part that
adjusts the rate based on which which stream to each individual
GCS_MAVLINK implementation.
 2016-05-07 23:49:35 -03:00
Andrew Tridgell 874fae931f Copter: fix for changed API 2016-05-07 18:27:22 +10:00
Andrew Tridgell 9da3b8db60 Copter: only log baro, gps and mag if ekf not logging them 2016-05-07 18:27:19 +10:00
Andrew Tridgell b235304235 Copter: reduce IMU logging to 25Hz 
leave more room for IMT logging needed for Replay
 2016-05-07 18:27:17 +10:00
Randy Mackay a5c55c3fbd Copter: fix get_non_takeoff_throttle 
The throttle_mid parameter (for historic reason) is interpreted as a value that includes throttle_min.  This means we must subtract the throttle_min value from it when converting it to a throttle in the 0 to 1 range.
 2016-05-07 12:21:41 +09:00
Randy Mackay 2eb0484142 Copter: rename Loiter states and swap order within select statement 2016-05-07 10:08:34 +09:00
Randy Mackay 1c4db779a1 Copter: Loiter stabilizes roll and pitch while landed 2016-05-07 10:08:32 +09:00
Randy Mackay 9c12b64ba5 Copter: rename AltHold states and swap order within select statement 
No functional change
 2016-05-07 10:08:30 +09:00
Randy Mackay 932cd907d4 Copter: AltHold stabilizes roll and pitch while landed 2016-05-07 10:08:28 +09:00
Randy Mackay 3ead74c4be Copter: remove zero-throttle check from AltHold takeoff state 
Hard to imagine a reason why we would want to turn off stabilization during takeoff
 2016-05-07 10:08:26 +09:00
Lucas De Marchi fea084a596 Global: use ap_version.h 
This header is used by waf to contain the generated version macros,
particularly using the git hash. For waf it's better to be in a separate
header since it then can keep track of changes on it a trigger
recompilation.

For the make build system, a dummy ap_version.h file has been added in
the missing/ folder so both implementations can co-exist.
 2016-05-06 13:11:28 -03:00
Lucas De Marchi 352e103f1a ArduCopter: use separate header for version macro 
Having the version macro in the config.h and consequently in the main
vehicle header means that whenever the version changes we need to
compiler the whole vehicle again. This would not be so bad if we weren't
also appending the git hash in the version. In this case, whenever we
commit to the repository we would need to recompile everything.

Move to a separate header that is include only by its users. Then
instead of compiling everything we will compile just a few files.
 2016-05-06 13:11:28 -03:00
Allan Matthew d6012c535e Copter: remove unused dt passed to precland 2016-05-06 11:04:45 +09:00
skyscraper 6bcd9e6f65 Copter::pre_arm_rc_checks: fix logic checking that throttle min and max are configured 2016-05-06 10:56:38 +09:00
Allan Matthew 7960e3bb8f Copter: pass DISTANCE_SENSOR messages to rangefinders 
This allows the MAVLink range finder driver to intercept distance measurements
 2016-05-04 12:10:58 +09:00
Michael du Breuil e7974702d4 Copter: Ignore POSITION_TARGET_GLOBAL_INT 2016-05-01 07:38:24 +10:00
Michael Oborne 5848d8a5e6 ArduCopter: support MAVLINK_MSG_ID_MISSION_ITEM_INT 2016-05-01 07:13:46 +10:00
Andrew Tridgell 54d1cc7e50 Copter: only save offsets for Compass::LEARN_EKF 
this means by default that one flight one affect the next one, which
makes it more robust in case of a bad flight
 2016-04-30 16:43:14 +10:00
Michael du Breuil c97888f524 Copter: Remove support for CONDITION_CHANGE_ALT 2016-04-30 10:56:07 +09:00
Randy Mackay d455e2a33f Copter: fix auto-circle comment 2016-04-30 10:33:01 +09:00
Randy Mackay a6b6fb2473 Copter: fix TERRAIN_FOLLOW parameter description 
Thanks OXINARF
 2016-04-30 10:33:01 +09:00
Randy Mackay 3d31c3b936 Copter: log error if circle does not initialise correctly 2016-04-30 10:33:01 +09:00
Randy Mackay caf6bbc2e0 Copter: rename set_alt to set_alt_cm in control_rtl 2016-04-30 10:33:01 +09:00
Randy Mackay fac7b7c566 Copter: rename set_alt to set_alt_cm in control_guided 2016-04-30 10:33:01 +09:00
Randy Mackay f8f6c135e9 Copter: rename set_alt to set_alt_cm in control_auto 2016-04-30 10:33:01 +09:00
Randy Mackay d92154a44e Copter: rename set_alt to set_alt_cm in commands_logic 2016-04-30 10:33:01 +09:00
Randy Mackay cd97aa97a3 Copter: provide terrain reference to AC_WPNav 2016-04-30 10:33:01 +09:00
Randy Mackay cac79f297e Copter: guided can trigger terrain failsafe 2016-04-30 10:33:01 +09:00
Randy Mackay 9100cf605a Copter: auto can trigger terrain failsafe 2016-04-30 10:33:01 +09:00
Randy Mackay 43d14defd4 Copter: RTL handles terrain data failure 2016-04-30 10:33:01 +09:00
Randy Mackay 47658fe964 Copter: add terrain failsafe 2016-04-30 10:33:01 +09:00
Randy Mackay 8e43be1511 Copter: fixes to allow compiling without terrain support 2016-04-30 10:33:01 +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 13c26eab67 Copter: update current_loc at 400hz 2016-04-30 10:33:01 +09:00
Randy Mackay f45c69e7ad Copter: log terrain altitude in CTUN message 2016-04-30 10:33:01 +09:00
Randy Mackay 25c676c3b4 Copter: report terrain capability to GCS 2016-04-30 10:33:01 +09:00
Randy Mackay ddffbe27aa Copter: add terrain pre-arm check 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 267c1c3934 Copter: guided mode handles terrain alt 2016-04-30 10:33:01 +09:00
Randy Mackay e8b14e59fc Copter: spline mission commands handle terrain altitudes 2016-04-30 10:33:01 +09:00
Randy Mackay 81d244c9bd Copter: do-circle accept terrain altitude 2016-04-30 10:33:01 +09:00