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731 Commits

Author SHA1 Message Date
Peter Barker 3a3433cad2 ArduCopter: add and use HAL_BUTTON_ENABLE 2021-08-25 19:03:42 +10:00
Andy Piper 1b5ed1caff Copter: add turtle mode 
add turtle mode as an RC function
add turtle mode arming checks
re-use motortest arming checks for turtle mode
 2021-08-12 19:00:51 +09:00
Andrew Tridgell bd84ed126e Copter: removed max home distance 
after discussion with Randy we agreed to just remove this check now we
are numerically stable at long distances
 2021-07-14 17:34:40 +10:00
Peter Barker 3684741517 ArduCopter: remove AC_TERRAIN compilation option 
Use AP_TERRAIN_AVAILABLE instead
 2021-07-12 17:34:44 +10:00
Andrew Tridgell 5eb1d4a5a9 Copter: improve check of far_from_EKF_origin 
- increases the maximum distance from EKF origin to 250km horizontally
- adds arming check that the vehicle is within 250km of the EKF origin
- fixes a bug in the far-from-EKF-origin related to height (was 500m, now 50km)
 2021-06-30 11:52:55 +09:00
Randy Mackay 290124720d Copter: RNGFND_FILT param default increased from 0.25 to 0.5 2021-06-25 15:36:31 +10:00
Randy Mackay 1cafbe1e65 Copter: add configurable rangefinder filter 2021-06-16 18:54:13 +10:00
Peter Barker cdbf6d216e ArduCopter: remove HIL support 2021-06-15 09:47:31 +10:00
Randy Mackay 91fa40aea6 Copter: HAL_PROXIMITY_ENABLED replaces PROXIMITY_ENABLED 2021-03-26 16:22:46 +09:00
Randy Mackay ef33ed5e36 Copter: landing gear enabled on all boards 
Co-authored-by: Tatsuya Yamaguchi <susumu-336@hotmail.co.jp>
 2021-03-17 10:41:11 +09:00
Tatsuya Yamaguchi ed8384b45a Copter: add option to disable LANDING_GEAR 2021-03-17 10:41:11 +09:00
Tatsuya Yamaguchi 52cd042d69 Copter: update filtered range finder altitude to AC_WPNav 2021-03-17 09:30:38 +09:00
Randy Mackay 64289d436a Copter: reduce ANGLE_MAX default to 30deg 2021-03-03 08:03:39 +09:00
Michael du Breuil 5e2093b105 Copter: Allow the user to specify the GCS failsafe timeout 2020-11-17 09:24:07 +09:00
Peter Barker b03b3041e0 Copter: remove stale MAGNETOMETER config option from config files 
This isn't used in the code any more
 2020-09-29 11:17:08 +10:00
Andy Piper b8f613c965 Copter: rename ADSB_ENABLED to HAL_ADSB_ENABLED and remove from config 2020-09-22 09:33:51 +10:00
Randy Mackay a2224f066a Copter: winch enabled with hal-minimize-features 2020-08-07 21:55:07 +09:00
Andy Piper 54c3d07547 Copter: make make/gimbal configurable on a per-board basis 2020-08-04 09:18:14 +10:00
Tatsuya Yamaguchi cde7ae246e Copter: add ZIGZ_AUTO_ENABLE parameter 2020-06-03 15:21:21 +09:00
Tatsuya Yamaguchi 60fb275501 Copter: rename zigzag_auto_pump to zigzag_sprayer 2020-06-03 15:21:21 +09:00
Tatsuya Yamaguchi 63002111eb Copter: add ZIGZAG_WP_DELAY parameter 2020-06-03 15:21:21 +09:00
Randy Mackay 944939fde3 Copter: remove unused heli definitions 2020-05-02 11:32:09 +09:00
Randy Mackay c4b5d47e1f Copter: white space fixes 2020-04-23 13:17:11 +09:00
Randy Mackay 04c3f040a8 Copter: visual odometry moved to AP_Vehicle 2020-04-09 19:41:08 +09:00
Tatsuya Yamaguchi 6b192de389 Copter: add ZIGZAG_AUTO_PUMP parameter 2020-02-19 19:56:56 +09:00
Andrew Tridgell 1350f6e338 Copter: use HAL_PARACHUTE_ENABLED and HAL_SPRAYER_ENABLED 2020-01-18 13:48:48 +11:00
Gone4Dirt 180d4e713c Copter: Added autorotation flight mode and support 2019-11-29 08:06:10 +08:00
Leonard Hall c11f2247eb Copter: System ID mode 2019-10-16 08:17:09 +09:00
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
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
Peter Barker e497b13b4a Copter: remove ineffective DEVO_TELEM_ENABLED 2019-09-04 17:47:33 +10:00
Peter Barker 87a1efeb45 Copter: add assertion that guided is enabled if guided-nogps is enabled 2019-08-22 17:47:45 +01:00
Randy Mackay 709c874d8b Copter: integrate AP_OAPathPlanner 2019-08-17 09:42:43 +09:00
Randy Mackay 41f538e039 Copter: simplify DEVO_TELEM_ENABLED definition 2019-08-09 23:07:06 +09:00
Randy Mackay 89eb876faf Copter: move surface tracking variables into structure 2019-04-19 07:45:52 +09:00
Tom Pittenger 7824b64ad6 Copter: rename dataflash to logger 2019-03-28 16:40:57 +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
murata 8644f4d76e Copter: Disable option code 
Copter: Revert change

Copter: Change mistakes
 2019-02-26 10:00:00 +09:00
Andrew Tridgell 3f58461839 Copter: allow override of default frame type 2019-02-06 11:17:35 +11:00
murata b252eae404 Copter: Flip mode is an option. 
Copter: Flip mode is an option.
 2018-11-26 09:29:47 +09:00
Randy Mackay e1ded6e0dc Copter: winch disabled by default 2018-10-30 13:25:22 +09:00
CAO MUQING 71beab7502 Copter: create and update Zigzag flight mode 2018-10-05 10:05:45 +09:00
Randy Mackay e7bc255e02 Copter: disable Guided_NoGPS on v2 boards to save flash space 2018-07-30 10:14:04 +09:00
Randy Mackay e239ac985d Copter: disable RPM meter on v2 boards to save flash space 2018-07-30 10:14:04 +09:00
Alexander Malishev f63b3c044a Copter: added OSD support 2018-06-27 14:55:00 +10:00
Peter Barker e3ddf7dadd Copter: rename SPRAYER-enabled-define to SPRAYER_ENABLED 2018-06-01 15:13:05 +09:00
Peter Barker 23a0e10d01 Copter: add sanity check for ModeFollow requiring AC_Avoid 
Copter: correct compilation when logging disabled

Copter: correct compilation when mount disabled
 2018-05-10 17:55:13 +09:00
night-ghost 51a189e906 ArduCopter: devo telemetry support (RX705/707) 2018-04-24 10:44:28 +10:00
Randy Mackay 13b8ad0e94 Copter: remove sport from pixhawk v2 builds 
this mode is almost never used
 2018-04-09 09:10:01 +09:00
Dr.-Ing. Amilcar do Carmo Lucas d633ba8c46 Copter: Add option to disable RPM module 2018-03-30 09:36:48 +09:00
Michael du Breuil 291531e056 Copter: Support new battery failsafes 2018-03-27 22:12:21 +01:00
Dr.-Ing. Amilcar Do Carmo Lucas ed36ec3c29 Copter: add option to disable THROW mode 2018-03-15 07:38:14 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas b27c00dc5f Copter: add option to disable ACRO mode 2018-03-15 07:38:14 +09:00
Randy Mackay 20ac17cda8 Copter: remove adsb beacon nav-guided and visodom from min features 2018-03-14 20:41:47 +09:00
Peter Barker af56826107 Copter: follow mode fixups 
add follow to FLTMODEx param descriptions
remove follow's set_velocity method
10hz logging of desired velocity in follow mode
follow mode uses pos error P gain
add send-debug-via-mavlink option
don't enter follow if follow lib is disabled
follow debug slowed to 1hz
disable follow on min-features builds
 2018-03-05 15:08:08 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas bbd1aa1cab Copter: Improve interoperation of AC_AVOID_ENABLED and BEACON_ENABLED 2018-03-03 17:10:26 +00:00
night-ghost adcc309f15 Copter: allow AP_Stats to be optional 2018-03-02 07:23:35 +11:00
Peter Barker 398d0d1f37 Copter: do not allow toy mode on Helicopters 2018-02-27 14:22:32 +09:00
Peter Barker b8e1f03599 Copter: add define for disabling beacon 2018-02-27 07:43:13 +09:00
Peter Barker 0e68ce2ad8 Copter: correct #error prerequisites 2018-02-27 07:43:13 +09:00
Peter Barker 5b355214fd Copter: add option to disable CIRCLE flight mode 
Saves about 2.4kB of flash
 2018-02-27 07:43:13 +09:00
Peter Barker e4898e1d60 Copter: add option to disable GUIDED_NOGPS flight mode 
Saves about 6.3kB of flash
 2018-02-27 07:43:13 +09:00
Peter Barker 86b162e32f Copter: add option to disable BRAKE flight mode 2018-02-27 07:43:13 +09:00
Peter Barker a7fe242e31 Copter: add option to disable RTL flight mode 2018-02-27 07:43:13 +09:00
Peter Barker b8c432b1a1 Copter: add option to disable GUIDED flight mode 
Saves about 6kB of flash
 2018-02-27 07:43:13 +09:00
Peter Barker 0ddeb56a05 Copter: add option to disable DRIFT flight mode 
Saves about 1kB of space
 2018-02-27 07:43:13 +09:00
Peter Barker e5056f8d40 Copter: add option to disable SPORT flight mode 
Saves about 1,500 bytes
 2018-02-27 07:43:13 +09:00
Peter Barker 7154f4dea4 Copter: add option to disable LOITER mode 2018-02-27 07:43:13 +09:00
Peter Barker 9b440d6b25 Copter: add option to disable SmartRTL mode 
Saves 5.5k of Flash
 2018-02-27 07:43:13 +09:00
Peter Barker 3a61b86e65 Copter: add option to disable POSHOLD mode 
Saves about 4k of Flash
 2018-02-27 07:43:13 +09:00
Peter Barker b9ad2bc8db Copter: add option to disable AUTO mode 
Saves ~12k of flash
 2018-02-27 07:43:13 +09:00
Randy Mackay 0ca653c8dd Copter: disable winch, gripper, sprayer on v2 build 2018-02-12 13:50:55 +09:00
murata c31c2a4cf1 Copter: optionalize the winch 2018-02-12 12:16:57 +09:00
Andrew Tridgell ce0bcf1adc Copter: disable toy_mode by default 2018-02-08 17:36:33 +11:00
Randy Mackay a3e9f72b0b Copter: fix default flight mode channel 2018-01-27 16:20:32 +09:00
Andrew Tridgell 89674482a7 Copter: added FLTMODE_CH parameter 
this allows for the flight mode to be on any RC channel, or no channel
at all to disable RC flight modes
 2018-01-27 12:01:35 +09:00
Pierre Kancir cfc69214e6 Copter: add LAND_ALT_LOW parameter 2018-01-24 21:14:35 +09:00
Randy Mackay 8d6f8e4d9c Copter: move pos-control pids to pos-control library 2018-01-23 12:00:43 +09:00
Randy Mackay 6546ccbb3f Copter: velocity pi moved to position control library 2018-01-23 12:00:43 +09:00
Peter Barker 996115c0d3 Copter: eliminate MAIN_LOOP_SECONDS macro 2018-01-20 15:35:58 +11:00
Randy Mackay 0ac708b5a0 Copter: remove ability to disable PosHold flight mode 
This flight mode is stable and regularly used so it is unlikely that we ever want to disable it
 2017-12-12 10:39:26 +09:00
ChristopherOlson 572c609cd6 Copter: Trad Heli-change default accel_z_p to 0.30 
prevents collective cycling in altitude controlled modes
 2017-10-26 17:15:40 +11:00
Peter Barker 89e6e70235 Copter: remove MAIN_LOOP_RATE in favour of parameter value 2017-08-29 08:41:07 +09:00
Peter Barker 02a590024d Copter: base loop time remaining on variable loop rate 2017-08-26 09:33:45 +09:00
Peter Barker c6b9c84d1f Copter: remove CLI 2017-08-14 10:23:50 +09:00
Randy Mackay 713c08672f Copter: integrate AP_VisualOdom 2017-04-19 11:04:40 +09:00
Peter Barker ac980fdd47 Copter: use compass_checks from AP_Arming 
User-visible changes:
 - checks will fail if calibration is in progress
 - PX4FMU_V1 will now have COMPASS_OFFSETS_MAX of 600, not 500
 - if the primary compass is not set to be used then compass checks will always pass
 2017-01-17 11:45:08 +09:00
Peter Barker f3a31b988a Copter: use ins_checks from AP_Arming 
Functionality changes:
 - gyros and accels only have to be consistent in last 10 seconds to pass
 - ins.use_accel() is honoured when checking for consistency
 - ins.use_gyro() is honoured when checking for consistency
 - threshold is trippled rather than doubled for accel cal checks
 - checks are reordered
 2017-01-17 11:45:08 +09:00
Andrew Tridgell e85df47b06 Copter: fixed parameter handling for pointer objects 
fixed loading of default files and use of POINTER flag on object
groups
 2017-01-12 17:39:37 +11:00
Peter Barker a233024e05 Copter: fix compilation when fence andd proximity are disabled 
This adds AC_AVOID_ENABLED; avoidance must be disabled if either
of fence or proximity are disabled.

Parameter definitions have been reordered to avoid compiler warnings;
this make sthe numbering non-linear
 2017-01-03 10:44:03 +09:00
Peter Barker d3e331e1f2 Copter: correct compilation when rally disabled 2017-01-03 10:24:56 +09:00
Randy Mackay 0ac00dbfd6 Copter: add FRAME_CLASS parameter 2016-12-31 10:55:23 +09:00
Andrew Tridgell bcea3ac8d4 Copter: handle rangefinder glitches in alt tracking 
this handles glitches from the rangefinder when tracking the
ground. It requires 3 readings in a row to settle on a new target
altitude

thanks to discussions with Leonard and Randy
 2016-11-28 17:36:01 +11:00
Randy Mackay b87ad8378b Copter: ACRO_Y_EXPO default to 0 
This value affects yaw in all flight modes.  Leonard is planning to change the name to make that more clear.
 2016-11-07 10:34:32 +09:00
Peter Barker 236b8ab6b7 Copter: make EPM a subclass of AP_Gripper_Backend 2016-11-05 10:20:39 +09:00
Peter Barker 920868145c Copter: support for AP_Gripper 2016-11-05 10:20:33 +09:00
Leonard Hall 0a6714f4ae Copter: rename variable ROLL_PITCH_YAW_INPUT_MAX 
No functional change
 2016-10-26 20:59:43 +09:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
Leonard Hall 5c47f3f9e5 Copter: add acro throttle and yaw expo and smoother manual pilot throttle 2016-10-15 11:27:53 +09:00
Randy Mackay fcc2a1b378 Copter: integrate AP_Proximity into main vehicle 2016-10-13 20:21:07 +09:00