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182 Commits

Author SHA1 Message Date
Randy Mackay aa4c3eaffe Copter: resolve RTL state compiler warnings 2014-02-15 05:27:48 +11:00
Randy Mackay 1acd33e290 Copter: do_yaw takes yaw target from AttControl 2014-02-15 05:27:47 +11:00
Randy Mackay 81c7df7678 Copter: comment fix 2014-02-15 05:27:46 +11:00
Randy Mackay bca309eb1e Copter: replace takeoff_complete with landed_complete 2014-02-15 05:27:43 +11:00
Randy Mackay 54be8402a2 Copter: integrate control_guided 2014-02-15 05:27:42 +11:00
Randy Mackay 212ced63f6 Copter: bug fix for do_loiter_time alt target 2014-02-15 05:27:41 +11:00
Randy Mackay 70d1e53b74 Copter: commands_logic to use auto_rtl 2014-02-15 05:27:41 +11:00
Randy Mackay bae867712d Copter: integrate circle mission command 2014-02-15 05:27:41 +11:00
Randy Mackay 055ce4e53e Copter: integrate control_rtl 2014-02-15 05:27:39 +11:00
Randy Mackay cdc0f8e414 Copter: use new control_auto takeoff and land 2014-02-15 05:27:38 +11:00
Randy Mackay f3bcbb2ce4 Copter: remove setting roll, pitch yaw modes in set_mode 2014-02-15 05:27:37 +11:00
Randy Mackay 65f7bf92f4 Copter: replace yaw_mode with auto_yaw_mode 2014-02-15 05:27:37 +11:00
Randy Mackay 0a2adbac1b Copter: renaming functions after moving xy control 2014-02-15 05:27:36 +11:00
Randy Mackay 5fd9410ff5 Copter: much renaming as xy pos controller moves 2014-02-15 05:27:36 +11:00
Andrew Tridgell e8b8cc1a5d Copter: converted to AP_ServoRelayEvents 2014-01-20 17:06:29 +11:00
Andrew Tridgell e3804e2846 Copter: fixes for AP_Relay API change 2014-01-20 17:06:29 +11:00
Randy Mackay 6d55895d30 Copter: simplify do-set-servo mission command 
This potentially changes the servo number that must be supplied if using
an APM1 but it now shares the same logic as arduplane and also adds
protection that the servo is not attached to the motor.
removed debug message from previous commit.
 2014-01-15 14:36:50 +09:00
Randy Mackay 59cea4b88c Copter: remove CopterLED from main code 2013-11-30 18:20:55 +09:00
Randy Mackay 7ef04bb73b Copter: rename nav_yaw to control_yaw 2013-11-27 22:48:20 +09:00
Robert Lefebvre 0e2ddb0378 Copter: verify_takeoff() should set ap.takeoff_complete to True after the takeoff is complete. 2013-11-15 22:57:34 +09:00
Randy Mackay 65980ace68 Copter: remove some commented out send_text code 2013-10-30 13:44:56 +09:00
Andrew Tridgell 3b9566bc09 Copter: support MAV_CMD_DO_SET_CAM_TRIGG_DIST 2013-10-11 21:40:57 +11:00
Randy Mackay 7cc8a9038f Copter: move failsafe flags into structure 2013-09-26 19:37:15 +09:00
Randy Mackay 284aa2217f Copter: remove old comments 2013-09-24 21:45:43 +09:00
Randy Mackay 6052017b13 Copter: allow override of auto throttle mode 2013-08-28 11:45:07 +09:00
Randy Mackay 7ea971d948 Copter: check set_mode for failure 
Previously if set_mode failed it would return the copter to stabilize
mode.  With this commit set_mode returns a true/false indicating whether
it succeeded or not so the caller can make the decision as to the
appropriate response which could be to stay in the current flight mode
or try another flight mode.
 2013-07-20 11:01:10 +09:00
Randy Mackay 1dcc5886d0 Copter: ensure take-off alt is at least 1m 
fixes issue #377
 2013-07-16 15:51:18 +09:00
Randy Mackay 47ab02d686 Copter: bug fix to ROI to pull target from conditional command queue 2013-07-14 17:37:06 +09:00
Randy Mackay f1969d5662 Copter: switch from NAV_ROI to DO_SET_ROI 2013-07-14 17:37:05 +09:00
Randy Mackay ab1a7baf71 Copter: project stopping point for loiter command 2013-07-11 11:39:47 +09:00
Randy Mackay 022148ec0d Copter: LAND only control horizontal position if we have GPS lock 2013-06-25 22:34:58 +09:00
Randy Mackay 993bccc60e Copter: point nose at landing point if specified 2013-06-03 15:20:37 +09:00
Randy Mackay 9f59f2724f Copter: bug fix for take-off when throttle is zero 
Verify_takeoff was always returning false if throttle was zero.  The
pilot should be able to move their throttle back to zero immediately
after initiating the mission
 2013-06-03 14:18:56 +09:00
Dr Gareth Owen 79bd8b4fd0 rtl resets yaw to same as when armed - unless user specifies otherwise 2013-06-02 11:29:27 +09:00
Randy Mackay 0460147a15 Copter: guided mode yaw fix 
Nose of copter now points at next guided point if it is more than 10m
away
 2013-06-02 11:25:35 +09:00
Randy Mackay 429f900460 Copter: bug fix for RTL bearing 
Also smooth RTL's initial climb stage by projecting stopping point
 2013-05-11 16:21:25 +09:00
Randy Mackay ad656c7e8a Copter: allow lat/lon to be specified for land 2013-05-10 22:37:15 +09:00
Randy Mackay b3bca271d4 Copter: rename verify_must to verify_nav_command 
Perhaps easier to understand if we use the "nav" and "conditional"
command labels
 2013-05-10 12:06:29 +09:00
Randy Mackay b65d714675 Copter: set yaw-mode in do_loiter mission command 2013-05-10 10:51:46 +09:00
Randy Mackay 1b52ee211a Copter: bug fix for RTL yaw control 
Nose was only pointing home if your initial altitude was above the
RTL_ALT
 2013-05-09 21:44:46 +09:00
Randy Mackay 1b2d8636ca Copter: set wp to "fast" if they have no delay 2013-05-09 00:18:36 +09:00
Andrew Tridgell 105bd32a2e Copter: fixed some uses of constrain_float() to be right type 2013-05-02 10:29:57 +10:00
Andrew Tridgell 25c576cad7 Copter: replaced constrain() with constrain_float() 2013-05-02 10:26:49 +10:00
Randy Mackay a53e5f747b Copter: add fourth yaw behaviour, look-at-home 
Added get_wp_yaw_mode to remove duplication of checks of the
WP_YAW_BEHAVIOR parameter
 2013-04-20 15:36:24 +09:00
Randy Mackay 37abfdc65a Copter: make CIRCLE_RATE a tunable parameter 
Also bug fix to check of how many time it has rotated during a loiter
turns mission command
 2013-04-20 12:03:55 +09:00
Randy Mackay d65d7d95e2 Copter: bug fix for take-off so it never descends 
If copter was already flying when take-off command was received it could
descend to the target altitude if it was below the current altitude.
 2013-04-18 22:30:24 +09:00
Randy Mackay 0fc9c8739e Copter: add WP_YAW_BEHAVE parameter 
Allows user to control whether nose points towards next waypoint and/or
home when RTLing.
Replaces YAW_OVR_BEHAVE which had a very similar purpose.  Almost nobody
ever knew about or used this parameter.
 2013-04-18 15:30:18 +09:00
Randy Mackay a7b32caf72 Copter: bug fix for loiter_time check 
loiter_time_max was changed to hold the loiter time in seconds
(previously it was milliseconds) in order to allow the delay to be more
than 65 seconds but the verify_loiter_time check was missed from that
change
 2013-04-15 23:57:22 +09:00
Randy Mackay 8c7a1597dc Copter: remove debug comment from RTL 2013-04-14 18:28:13 +09:00
Randy Mackay 629d23b7e2 Copter: remove WP_SPEED and WP_RADIUS parameters 
AC_WPNav library has equivalent params with very similar names
 2013-04-14 13:27:37 +09:00