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5754 Commits

Author SHA1 Message Date
Peter Barker
ab68e4fe8b Copter: log quiet-nan for rangefinder-desired-alt when not using it 2018-06-06 08:33:56 +09:00
Pierre Kancir
b95fe2b8b1 Copter: rename SPRAYER-enabled-define to SPRAYER_ENABLED 2018-06-05 12:08:17 +09:00
Michael du Breuil
6c94811e00 Copter: Update to support new RC override conventions 2018-06-05 09:51:09 +10:00
Peter Barker
6d9a131a26 Copter: make VFR_HUD always return height above MSL 2018-06-05 09:38:20 +10:00
Michael du Breuil
749e0acd10 Copter: Remove software type param 2018-06-05 09:14:12 +10:00
Peter Barker
7015d42ab2 Copter: Location gets ahrs from singleton 2018-06-01 16:18:33 +01:00
Peter Barker
78d2c52a3f Copter: move try_send_message handling of EKF_STATUS_REPORT up 2018-06-01 16:12:45 +01:00
Peter Barker
e3ddf7dadd Copter: rename SPRAYER-enabled-define to SPRAYER_ENABLED 2018-06-01 15:13:05 +09:00
Peter Barker
4b4e66e2bd Copter: correct comment about mode change 2018-06-01 15:01:46 +09:00
Peter Barker
db60e93716 Copter: correct comment on deprecated switch option 2018-06-01 15:01:46 +09:00
Andrew Tridgell
b8d47f346e Copter: fixed interlock check on helis 
the motors check is always false when disarmed, so can't be used for
arming check
 2018-06-01 10:14:20 +09:00
Randy Mackay
25961b6d13 Copter: flip mode format fix 2018-05-31 15:21:50 +09:00
Randy Mackay
0ba105f649 Copter: minor format fix to guided 
no need to specify copter
non-functional change
 2018-05-31 15:21:42 +09:00
Peter Barker
c09ccf5b61 Copter: split home-set and home-locked state 2018-05-29 14:38:45 +10:00
Peter Barker
7c98082389 Copter: create persist_streamrates() callback to indicate persistence 2018-05-29 13:08:29 +10:00
Peter Barker
5f2221fe74 Copter: move handling of VFR_HUD into GCS_MAVLink_Copter 2018-05-29 13:00:40 +10:00
Andrew Tridgell
2425c65e74 Copter: implement 'air-mode' for copter 
this implements what betaflight calls 'air-mode'. This gives attitude
control when throttle is at zero, allowing for zero-throttle maneuvers,
plus keeping the copter level on the ground.

This was already implemented if an interlock switch was setup, but it
should also work with an arming switch. If using an arming switch then
throttle should not be considered zero as long as the arming switch
hasn't gone low.
 2018-05-29 10:27:14 +09:00
Andrew Tridgell
0d56526400 Copter: added de-bouncing of aux switches 
this prevents a crash with a switch such as arm/disarm getting a
single frame RC glitch
 2018-05-29 08:26:46 +09:00
apinxiko
a1fd1cb9b2 Copter: avoid keeping buzzing while in holding at waypoint 2018-05-25 14:02:13 +09:00
Randy Mackay
25475b65d9 Copter: proximity sensor reports laser unhealthy when no data 2018-05-24 12:46:38 +09:00
Peter Barker
81e9edd80a Copter: move sending of sim state up 2018-05-23 18:36:50 +10:00
Peter Barker
ec1539f9c8 Copter: add type-correctness for stream messages 2018-05-22 11:21:25 +10:00
Peter Barker
de7a8e20e2 Copter: eliminate MSG_LIMITS_STATUS 2018-05-22 09:05:14 +09:00
Pierre Kancir
aa8a90271e ArduCopter : HAL_RCINPUT_WITH_AP_RADIO definition 2018-05-22 08:35:01 +09:00
bnsgeyer
86440b20ba Copter: Tradheli - disables inverted flight option for single and dual heli frames 2018-05-22 08:35:03 +10:00
Peter Barker
50ca76b6bd Copter: move try_send_message of servo-output-raw up 2018-05-21 19:08:08 +01:00
Peter Barker
7c8583d51d Copter: implement sending of position_target_global_int 2018-05-18 20:26:37 +10:00
Peter Barker
33582107b6 Copter: move sending of GLOBAL_POSITION_INT up to GCS_MAVLINK 2018-05-17 15:48:06 +01:00
Peter Barker
1437eb008d Copter: remove arguments to send_home and send_ekf_origin 2018-05-17 20:42:36 +10:00
Peter Barker
da1b2579c4 Copter: move send_attitude up to GCS_MAVLINK 2018-05-17 18:28:43 +10:00
Peter Barker
e4a2b03488 Copter: move try_send_message sending of scaled_pressure up 2018-05-17 15:37:14 +10:00
Peter Barker
88883c7c7f Copter: move try_send_message sending of sensor offsets up 2018-05-17 15:37:14 +10:00
Peter Barker
93f1815d50 Copter: move try_send_message of RAW_IMU up to GCS_MAVLINK 2018-05-17 15:37:14 +10:00
Peter Barker
9dce133938 Copter: handle setting of ekf origin in GCS_MAVLink 2018-05-17 10:13:42 +10:00
Peter Barker
0dc0e54767 Copter: move Log_Write_Home_And_Origin into AP_AHRS 2018-05-17 10:13:42 +10:00
Michael du Breuil
296296ab6c Copter: Use named float wrapper 2018-05-17 00:59:45 +01:00
Michael du Breuil
1c6031e5e5 Copter: AP_Proximity is now a common library 2018-05-16 23:21:41 +01:00
Michael du Breuil
fe8e1b4274 Copter: Move MAVLink rangefinder up to parent 2018-05-16 23:21:41 +01:00
Michael du Breuil
033a8ec4d5 Copter: Send all distance sensors 2018-05-16 23:21:41 +01:00
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
Randy Mackay
6f138ddcfa Copter: ekf failsafe first enforces landing with no GPS 
thanks to khancyr for spotting this
 2018-05-10 08:59:37 +09:00
Leonard Hall
656892cd88 Copter: ekf failsafe disabled for acro and stabilize 
Also restructure to combine ekf_over_threshold and ekf_check_position_problem
 2018-05-10 08:59:37 +09:00
Peter Barker
ec6fb0c612 Copter: move sending of battery data up 2018-05-09 11:40:31 -07:00
Peter Barker
e90ce4ced9 Copter: move data stream send up 2018-05-09 16:15:38 +10:00
Peter Barker
dee40f3fe5 Copter: make scheduler track whether it has called the delay callback 2018-05-09 16:15:38 +10:00
Peter Barker
b561e8b7e9 Copter: AP_RSSI is included in build for all vehicles 2018-05-08 12:33:32 +01:00
Peter Barker
6dd9f50f7c Copter: move try_send_message handling of RC_CHANNELS up 2018-05-08 12:33:32 +01:00
Peter Barker
75ad33ddcd Copter: move try_send_message of heartbeats up to GCS_MAVLINK 2018-05-07 11:30:13 -06:00
Peter Barker
d7af5c0c44 Copter: move try_send_message handling of VIBRATION up 2018-05-07 11:23:28 -06:00
Peter Barker
dc61884303 Copter: remove rcmap member from AP_AdvancedFailsafe 2018-05-05 18:06:31 +09:00
Sarthak Bhagat
0bd21b0b3f Copter: SmartRTL add pilot yaw control 2018-04-30 13:15:44 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
c8d1dad493 Copter: document stream content 2018-04-27 19:54:00 +09:00
Randy Mackay
c85bae8d88 Copter: correct dodeca-hexa copter mav-type 2018-04-27 14:57:00 +09:00
Andrew Tridgell
963f86b7bf Copter: remove old pde file 
this was here for upgrading very old MissionPlanner versions. We can
remove it now
 2018-04-26 14:25:01 +10:00
Michael du Breuil
91a48a5040 Copter: Support new RC_Channels::read_input() 2018-04-26 08:00:09 +10:00
night-ghost
51a189e906 ArduCopter: devo telemetry support (RX705/707) 2018-04-24 10:44:28 +10:00
Randy Mackay
2fff9561a7 Copter: 3.6.0-rc1 release notes 2018-04-21 09:22:42 +09:00
Pierre Kancir
3be6c0e26b ArduCopter : clean unused definitions 2018-04-20 15:26:47 +01:00
Peter Barker
4b5953734d Copter: use AP_ServoRelayEvents singleton 2018-04-18 20:31:55 +09:00
Peter Barker
04885b127c Copter: GPS now logs its own data 2018-04-18 13:50:55 +09:00
Peter Barker
8648db06b4 Copter: create autoyaw.cpp from all the bits of Copter::Mode::AutoYaw 2018-04-18 13:27:43 +09:00
Peter Barker
948b90ed97 Copter: rename roi_WP to just roi 
A Vector3f is not a waypoint.

This should really be "Point Of Interest" rather than "Region Of
Interest"
 2018-04-18 13:27:43 +09:00
Peter Barker
ba8b3e2415 Copter: create an AutoYaw helper object to hold auto-yaw state 2018-04-18 13:27:43 +09:00
Pierre Kancir
1f30ae3076 ArduCopter: fix float to double warning 2018-04-18 10:27:10 +09:00
Pierre Kancir
70805d61f2 ArduCopter: remove inertial_nav from precland constructor 2018-04-17 17:21:35 +09:00
Peter Barker
80549a479e Copter: move throw logging into ModeThrow 2018-04-17 17:16:52 +09:00
Peter Barker
c95ff96263 Copter: Baro does its own dataflash logging 2018-04-12 19:12:12 +01:00
Randy Mackay
a38507623d Copter: autotune minor comment fix 2018-04-12 20:51:37 +09:00
Randy Mackay
1b38a377ff Copter: autotune replace 1 with true 2018-04-12 20:51:37 +09:00
Leonard Hall
7204d46ccb Copter: Autotune - Fix low angle P issue 2018-04-12 20:51:37 +09:00
Peter Barker
d9ab8d6569 Copter: sprayer now uses ahrs singleton; stop passing reference 2018-04-12 14:23:33 +09:00
Michael du Breuil
d96919ed21 Copter: Use RC_Channels instead of hal.rcin 2018-04-11 21:47:07 +01:00
Randy Mackay
2817cc61f3 Copter: add heliquad to frame-class param description 2018-04-11 19:35:06 +09:00
Randy Mackay
bf6e1993a1 Copter: resolve compiler warning re temp_calibration init order 2018-04-11 11:31:17 +09:00
Pierre Kancir
9e298b3b2f Copter: sprayer uses ahrs in constructor 2018-04-11 09:41:33 +09:00
Michael du Breuil
adb7ecef92 Copter: Check MANUAL_CONTROL target 2018-04-10 16:54:34 +01:00
Randy Mackay
13b8ad0e94 Copter: remove sport from pixhawk v2 builds 
this mode is almost never used
 2018-04-09 09:10:01 +09:00
Andrew Tridgell
9c040105d6 waf: split copter and heli builds 
this makes things less confusing for users
 2018-04-08 21:26:16 +10:00
Peter Barker
d219540554 Copter: correct compilation when AFS is enabled 2018-04-07 09:46:54 +09:00
Peter Barker
d0425c7b2f Copter: correct compilation when precland is disabled 
Closes #8098
 2018-04-07 09:44:43 +09:00
Andrew Tridgell
1ffe75957e Copter: fixed ESC calibration for DShot 2018-04-07 09:10:29 +10:00
Leonard Hall
5c1d895f82 Copter: autotune announce only while tuning 2018-04-06 14:48:28 +09:00
Leonard Hall
83fac326a4 Copter: autotune check for vel overshoot in angle P 
this change reduces the chance of over tuned angle P
 2018-04-06 14:48:28 +09:00
Peter Barker
975ad608eb Copter: honour defines for optional feature's log messages 2018-04-05 17:37:02 +09:00
Peter Barker
893b761533 Copter: correct terrain-alt logging 
Also change to using an out-of-band value upon no-terrain-alt-available
 2018-04-05 12:30:05 +09:00
Peter Barker
2d31a7b318 Copter: remove check for enabled in for Log_Write_Beacon 
The DataFlash library does this now
 2018-04-04 16:20:33 +09:00
Randy Mackay
59e4749fd0 Copter: integrate AC_Loiter 
includes param conversion
 2018-04-04 10:45:10 +09:00
Randy Mackay
5f2f446199 Copter: add AC_Loiter to make build 2018-04-04 10:45:10 +09:00
Randy Mackay
acfc3a606a Copter: circle mode uses AC_Circle get_distance_to_target 2018-04-04 10:45:10 +09:00
Francisco Ferreira
8ff74f31e9
Copter: fix method shadowing 2018-04-03 16:29:33 +01:00
Peter Barker
0c8110ecb2 Copter: factor vehicle's mavlink send_heartbeat 2018-04-03 13:05:19 +01:00
Peter Barker
d58e2214d2 Copter: tidy handling of barometer calibrations 2018-04-02 23:25:05 +01:00
Peter Barker
cca4d5136e Copter: move common calibration functions up 2018-04-02 23:25:05 +01:00
Peter Barker
c80714b820 Copter: factor out preflight calibration function 2018-04-02 23:25:05 +01:00
Peter Barker
ebebb3b107 Copter: use ahrs singleton for AP_Follow and SmartRTL 2018-04-02 17:16:02 +01:00
Randy Mackay
b3cb491bb1 Copter: minor format fix to mode_land 2018-03-31 14:19:13 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
d633ba8c46 Copter: Add option to disable RPM module 2018-03-30 09:36:48 +09:00
Ebin
914f3385a4 ArduCopter: Moved land control fn definitions to mode.cpp (NFC) 2018-03-29 16:54:54 +01:00
Ebin
1ff4019ddf ArduCopter: moved landing control fns from Copter to Mode 
land_run_horizontal_control(),land_run_vertical_control(),get_alt_above_ground() moved to Mode
 2018-03-29 16:50:00 +01:00
Randy Mackay
cbd2756467 Copter: loiter loses redundant z-axis init 2018-03-29 08:26:42 +09:00
Leonard Hall
a3a1601837 Copter: althold remove redundant z-axis init 2018-03-29 08:26:42 +09:00
Leonard Hall
8ff8364252 Copter: remove redundant takeoff_stop from flowhold 2018-03-29 08:26:42 +09:00
Peter Barker
ce0f0938ee Copter: make superclass handle command_ack packets 2018-03-28 09:28:23 +09:00
Michael du Breuil
291531e056 Copter: Support new battery failsafes 2018-03-27 22:12:21 +01:00
priseborough
4b00f399b4 Copter: Clarify definition for gps_glitching flag 2018-03-27 20:28:55 +09:00
Peter Barker
f8d5fe96d8 Copter: allow DataFlash to handle log sending 2018-03-26 09:22:47 +09:00
Bruno Camba
7b50517232 Copter: Moved commands_logic to mode_auto 
Moved methods from commands_logic.cpp to
the mode_auto.cpp. Method order is
the same as declared in mode.h
 2018-03-23 10:07:12 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
580143d404 Copter: Add whitespaces to increase readability and consistency (NFC) 2018-03-23 09:34:11 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
58480435bb Copter: Add missing parameter units (NFC) 2018-03-23 09:34:11 +09:00
Peter Barker
41960704b0 Copter: move handling of visual odometry messages up 2018-03-23 09:28:07 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
4f0cf6d334 Copter: Parameter ACRO_THR_MID is only used in ACRO flight mode 2018-03-23 09:14:23 +09:00
Pierre Kancir
9c23aa5ec3 ArduCopter: fix FALLTHROUGH 2018-03-21 08:24:56 +09:00
apinxiko
032ad9a67b Copter: avoid hard stop in missions 2018-03-20 10:30:38 +09:00
kozinalexey
8b5f5a5fa0 Copter: fix camera relay trigger 
camera.update() for automatic shots always called from
void Copter::update_GPS(void), after gps read
copter specific bug
 2018-03-20 10:13:49 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
5f9879fae1 Copter: remove more parameters when ACRO is disabled 2018-03-20 08:13:06 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
d78c2a1015 Copter: Fix copy-paste error in toy_mode 2018-03-20 08:13:06 +09:00
night-ghost
a1797beb41 Copter: removed 1ms delay on startup 
handled by GCS library now, not needed here
 2018-03-20 10:08:20 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
8e143aa637 Copter: Do not switch into a disabled flight mode 2018-03-19 15:06:41 +00:00
Ebin
d8f56b3511 ArduCopter: changed signature for get_pilot_desired_lean_angles() 
Removes first two redundant input parameters, makes fn non static, makes fn const
 2018-03-19 17:51:39 +09:00
Peter Barker
edcfa7ffd4 Copter: move handling of get_home_position up 2018-03-19 10:32:37 +09:00
Peter Barker
45f2312bfe Copter: move home state into AP_AHRS 2018-03-19 10:32:37 +09:00
Peter Barker
52882d11fa Copter: AP_TempCalibration does not take reference to ins 2018-03-16 00:37:35 -07:00
Peter Barker
2749ee9060 Copter: use ins singleton 2018-03-16 00:37:35 -07:00
Randy Mackay
feecbe442f Copter: use multiply instead of divide in param conversion 2018-03-16 13:50:57 +09:00
Randy Mackay
d7ea8f073f Copter: run guided velocity control at main loop rate 2018-03-16 13:50:57 +09:00
Randy Mackay
4a74b1b5e5 Copter: replace NTUN with PSC logging 2018-03-16 13:50:57 +09:00
Randy Mackay
0392d2752d Copter: tuning rc-feel uses multiply instead of divide 2018-03-16 13:50:57 +09:00
Randy Mackay
1035645f5c Copter: poshold always resets loiter I term 2018-03-16 13:50:57 +09:00
Leonard Hall
a727305a59 Copter: integrate attitude control EKF inertial-frame-reset 2018-03-16 13:50:57 +09:00
Randy Mackay
f368ff6664 Copter: parameter conversion from RC_FEEL_RP to ATC_INPUT_TC 2018-03-16 13:50:57 +09:00
Leonard Hall
8ac653cabf Copter: AutoTune integrate renamed use_sqrt_controller 2018-03-16 13:50:57 +09:00
Randy Mackay
853d7ab573 Copter: remove setting of pos-con jerk 2018-03-16 13:50:57 +09:00
Leonard Hall
7511781a7e Copter: add accel target to NTUN log msg 
Also rename NTUN column headers from D (meaning Desired) to T (meaning Target)
 2018-03-16 13:50:57 +09:00
Leonard Hall
f9acc8a666 Copter: guided removes xy mode in calls to pos-con 
Also limit angle to hold altitude
 2018-03-16 13:50:57 +09:00
Randy Mackay
1a0be015f9 Copter: land, loiter, rtl provide dt to AC_WPNav::set_pilot_desired_acceleration 
Also fix accelerations/lean-angles for land and rtl-land
 2018-03-16 13:50:57 +09:00
Leonard Hall
93de23e7c4 Copter: get-pilot-desired-lean-angles accepts another angle-max 2018-03-16 13:50:57 +09:00
Leonard Hall
1540f98888 Copter: add angle inputs to Loiter 2018-03-16 13:50:57 +09:00
Leonard Hall
9544b1763b Copter: replace smoothing gain with AC_AttitudeControl::set_input_tc 2018-03-16 13:50:57 +09:00
Ebin
185f41d5bd Copter arm_checks(): PreArm in error msg changed to Arm 2018-03-16 09:49:54 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
7df1419579 Copter: add missing MAGNETOMETER and STATS_ENABLED build defines 2018-03-15 15:03:22 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas
115ed491c0 Copter: Obey RANGEFINDER_ENABLED, AUTOTUNE_ENABLED and AC_TERRAIN build macros 2018-03-15 15:03:22 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas
5b7116bbbd Copter: Fix else formating (NFC) 
git history on these lines is not important, this is a simple else
 2018-03-15 07:51:26 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
db90ee6841 Copter: Remove RTL_ parameters if RTL flight mode is disabled 2018-03-15 07:38:50 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
21c33b60db Copter: Remove DRIFT mode code if DRIFT mode is disabled. 2018-03-15 07:38:14 +09:00
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
Ebin
b8a307cdd0 Copter: Changed log message IDs to enum 
Changes log message IDs to enum, removes values in LoggingParameters enum
and removes deprecated params in LogParameters.
 2018-03-14 09:33:39 +09:00
Randy Mackay
af207caa1f Copter: move get_pilot_desired_lean_angles higher in cpp 
this makes the definition in the .h and implementation in .cpp files appear in the same order
 2018-03-14 09:33:39 +09:00
Ebin
20995b909f Copter: Moved get_pilot_desired_lean_angles to mode.cpp 2018-03-14 09:33:39 +09:00