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Commit Graph

100 Commits

Author SHA1 Message Date
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 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
Randy Mackay d50987f976 Copter: avoidance_adsb implements copter avoidance using ADSB 2016-07-25 20:24:37 +09:00
Andrew Tridgell cb5ca713a9 Copter: added AP_Button support 2016-07-22 15:01:20 +10:00
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
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
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
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 dec9323127 Copter: remove THR_MIN 
Equivalent is AP_Motors SPIN_MIN
 2016-06-18 11:55:49 +09:00
Peter Barker 1fc4063117 Copter: correct TERRAIN_FOLLOW parameter comments 2016-06-08 17:35:20 +09:00
Randy Mackay 2815af81ad Copter: rename RTL_CONE_SLOPE_DEFAULT definition 
Also tiny formatting fix
 2016-05-31 12:20:21 +09:00
Randy Mackay be3b1cb6ab Copter: convert STB_ params to ATC_ANG_ 2016-05-28 15:45:30 +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
Jonathan Challinger 747344a8ba Copter: add disarm on land detect option to PILOT_THR_BHV 2016-05-13 11:57:48 +09:00
Andrew Tridgell 75d76ac3bd Copter: fixed scaling of old heli parms 2016-05-12 17:34:36 +10:00
Andrew Tridgell 111eb2ccc1 Copter: use DataFlash::log_while_disarmed() 2016-05-09 12:05:52 +10:00
Randy Mackay a6b6fb2473 Copter: fix TERRAIN_FOLLOW parameter description 
Thanks OXINARF
 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 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
Leonard Hall a9cda8b384 Copter: add convert_pid_parameters to ease migration to new PID gains 2016-04-01 11:59:30 +09:00
Randy Mackay c352e1bedf Copter: fix attitude control parameter declaration 2016-04-01 11:59:30 +09:00
Randy Mackay bde498375c Copter: remove attitude PIDs 
These are now part of AC_AttitudeControl
 2016-04-01 11:59:30 +09:00
Randy Mackay 1f37f5a0e7 Copter: remove tradheli swash, yaw and rsc servos 
These are all created within the AP_MotorsSingle class now except for servo_rsc which was unused
 2016-04-01 11:59:30 +09:00
Leonard Hall 6c40d6f774 Copter: remove single frame's servo objects 2016-04-01 11:59:30 +09:00
Leonard Hall 44180e44df Copter: remove coax servo objects 
servos moved to AP_MotorsCoax class
 2016-04-01 11:59:30 +09:00
Leonard Hall a00a9601a4 Copter: AP_MotorsCoax now uses 4 servos 2016-04-01 11:59:30 +09:00
Andrew Tridgell f19922fec5 Copter: added LAND_SPEED_HIGH parameter 
this is the descent rate for the first part of a landing. Separating
this from WPNAV_SPEED_DN allows for independent tuning of fast fwd
flight from landings
 2016-03-30 15:54:20 +11:00
Lucas De Marchi 34155c09e6 ArduCopter: Update path locations for parameters 
Thanks to Francisco Ferreira for noticing that.
 2016-03-23 17:50:38 -03:00
Don Gagne cae7ea0d13 Add @Volatile, @ReadOnly support 2016-03-17 10:58:05 +11:00
Don Gagne e9651dacfe Copter: update parameter description increments 2016-03-08 09:27:50 +09:00
Randy Mackay a93a0d370a Copter: add throw mode to aux switches 2016-03-03 15:30:03 +09:00
Randy Mackay 20b6688e77 Copter: add throw to FLTMODE param descriptions 2016-03-03 12:18:20 +09:00
Paul Riseborough a7b69366a1 Copter: Add flight mode for throw launch 
The is commit adds a new flight mode called 'Throw' to Copter that enables the copter to be thrown into the air to start motors. This mode can only be netered when the copters EKF has a valid position estimate and goes through the following states

Throw_Disarmed - The copter is disarmed and motors are off.
Throw_Detecting - The copter is armed, but motors will not spin unless THROW_MOT_START has been set to 1. The copter is waiting to detect the throw. A throw with an upwards velocity of at least 50cm/s is required to trigger the detector.
Throw_Uprighting - The throw has been detected and the copter is being uprighted with 50% throttle to maximise control authority. This state transitions when the copter is within 30 degrees of level.
Throw_HgtStabilise - The copter is kept level and height is stabilised about the target height which is 3m above the height at which the throw release was detected. This state transitions when the height is no more than 0.5m below the demanded height.
Throw_PosHold - The horizontal motion is arrested and the copter is kept at a constant position and height.
 2016-03-03 12:18:13 +09:00
Randy Mackay dc2ec5db18 Copter: add Bitmask param description for PILOT_THR_BHV 2016-01-14 15:21:59 +09:00
Jonathan Challinger 8965185587 Copter: add "high throttle cancels landing" option 2016-01-14 15:21:54 +09:00
Randy Mackay 6a67ad706c Copter: add Relays to aux switch parameter descriptions 
Also fix formatting of new options in switches.cpp
No functional change
 2016-01-08 12:13:37 +09:00
Randy Mackay 2927d6b2df Copter: add RTL_CONE_SLOPE param description values 2016-01-07 17:22:35 +09:00
Jonathan Challinger 3800c66f07 Copter: add RTL_CONE_SLOPE 2016-01-07 17:22:33 +09:00
Randy Mackay 15e673f5ae Copter: fix precland parameter description prefix 
Thanks to Thomas Stone for finding this

No functional change
 2016-01-07 12:55:44 +09:00
Andrew Tridgell 907a680a3b Copter: always call load_all 
this ensures defaults file works on first start after erase
 2016-01-07 09:33:00 +11:00
Andrew Tridgell 5c94b61f49 Copter: support up to 14 input channels for all boards 2016-01-04 08:22:51 +11:00
Randy Mackay cfff57257e Copter: shorten precision landing param prefix 2015-12-31 15:30:39 +09:00
Randy Mackay 1155b1f557 Copter: remove precision landing PI controller 
This controller has been moved into the precision landing class
 2015-12-31 15:30:36 +09:00
pepevalbe 3b3205304b Copter: added group parameter for AP_Notify library 2015-12-31 11:33:08 +09:00
Andrew Tridgell d14056fa1e Copter: fixed build warnings 2015-12-20 17:55:40 +11:00