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401 Commits

Author SHA1 Message Date
Andrew Tridgell
af4f0c29ba Copter: enable TMODE (ToyMode) support 
this is for the skyviper button based transmitter control
 2018-02-08 17:36:33 +11:00
Andrew Tridgell
f442b91ea5 Copter: added FLOWHOLD flight mode 
This flight mode allows for position hold with optical flow without
needing a rangefinder for height. It can estimate its height from the
flow data and IMU
 2018-02-08 17:36:33 +11:00
Andrew Tridgell
15166eff2e Copter: enable temperature calibration library 2018-02-08 17:36:33 +11:00
Michael du Breuil
69da4041ac Copter: Move logging battery logging code to AP_BattMonitor 2018-02-06 00:11:32 +00:00
Pierre Kancir
10e6fe43dd Copter: Add a switch option to enable/disable RC_Override 2018-01-24 21:37:41 +09:00
Randy Mackay
6546ccbb3f Copter: velocity pi moved to position control library 2018-01-23 12:00:43 +09:00
Dylan Herman
20fe5bb98f Copter: add SmartRTL failsafe action 
Adds SmartRTL or RTL and SmartRTL or Land failsafe options for batt, throttle, and GCS failsafes
 2018-01-22 10:54:28 +09:00
Peter Barker
dda38d65eb Copter: AP_AHRS no longer requires GPS in constructor 2017-12-27 00:58:02 +00:00
Randy Mackay
2c0df87585 Copter: Copter.h method reordering 2017-12-15 08:26:45 +09:00
Peter Barker
6c82f7671d Copter: move all commands logic into AUTO flightmode 2017-12-14 14:08:01 +09:00
Andrew Tridgell
8ab0ac8a16 Copter: removed create() method for objects 
See discussion here:

  https://github.com/ArduPilot/ardupilot/issues/7331

we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach

Thanks to assistance from Lucas, Peter and Francisco
 2017-12-14 08:12:28 +11:00
Peter Barker
377466ddda Copter: fence no longer requires AP_InertialNav 2017-12-13 10:04:50 +09:00
Randy Mackay
2d23e1f7c7 Copter: rename flightmode_ objects to mode_ 2017-12-12 10:39:26 +09:00
Randy Mackay
c3fbf2671c Copter: rename control_xx.cpp files to mode_xx.cpp 2017-12-12 10:39:26 +09:00
Randy Mackay
06fbe8f3a7 Copter: rename FlightMode class to Mode 
also remove unused print_FlightMode method
 2017-12-12 10:39:26 +09:00
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
Randy Mackay
8870897847 Copter: FlightMode objects use lower case 2017-12-12 10:39:26 +09:00
Peter Barker
5d33cf08e1 Copter: eliminate calc_home_distance_and_bearing 
Calling update_simple_mode_bearing calls get-heading
rather than the other way around

This will have the advantage of not calculating home bearing
when we stop calling update_simple_mode_bearing unnecesarily
 2017-12-09 16:26:09 +09:00
khancyr
b44ba29a05 AC_Avoidance: replace AP_InertialNav by AHRS 2017-12-08 11:27:37 +09:00
Peter Barker
103e2cc711 Copter: calculate wp bearing and distance on demand 
Move responsibility for calculating wp bearing/distance
into the FlightMode object doing the navigation

Calculating these variables was being done at 50Hz where they
were used at 10Hz max.
 2017-12-07 07:43:08 +09:00
Peter Barker
4ae2be55aa Copter: fix up autotune namespacing 
This moves static variables into the autotune flightmode object.

It also adjusts namespacing on everything to take advantage of
having everything encapsulated in the AutoTune object
 2017-12-07 07:35:37 +09:00
Peter Barker
7b637334f4 Copter: eliminate mode_has_manual_throttle 2017-12-06 10:09:58 +09:00
Peter Barker
4fd61ed6dc Copter: make exit_mode take FlightMode objects as arguments 2017-12-06 10:09:58 +09:00
Peter Barker
477ae8f7be Copter: pass heli_flags into flightmode constructor 2017-12-06 08:24:24 +09:00
Peter Barker
83d0a71e10 Copter: FlightMode - simplify flight mode initialization 2017-12-06 08:24:24 +09:00
Peter Barker
ef1489e87a Copter: eliminate mode_requires_gps 2017-12-06 08:24:24 +09:00
Peter Barker
a4859e13c1 Copter: eliminate mode_allows_arming 2017-12-06 08:24:24 +09:00
Peter Barker
9c60c1de58 Copter: FlightMode - convert SMARTRTL flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
b0e34bd307 Copter: FlightMode - convert GUIDED_NOGPS flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
cf423ce681 Copter: FlightMode - convert THROW flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
37c706c24e Copter: FlightMode - convert AVOID_ADSB flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
51cd143012 Copter: FlightMode - convert BRAKE flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
cafce01357 Copter: FlightMode - convert POSHOLD flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
67063d6b1e Copter: FlightMode - convert AUTOTUNE flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
018c70d224 Copter: FlightMode - convert FLIP flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
5e3e831152 Copter: FlightMode - convert SPORT flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
6a38664ff4 Copter: FlightMode - convert DRIFT flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
682f3c0e7e Copter: FlightMode - convert RTL flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
3b1ca99b95 Copter: FlightMode - convert LAND flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
2db09ba0f7 Copter: FlightMode - convert GUIDED flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
f2495b2d08 Copter: FlightMode - convert LOITER flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
871ba5630f Copter: FlightMode - convert CIRCLE flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
e2b70c3a0a Copter: FlightMode - convert AUTO flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
a95a35c134 Copter: FlightMode - convert STABILIZE flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
79c06974b7 Copter: FlightMode - convert ALT_HOLD flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
d74f0c72da Copter: FlightMode - convert ACRO flight mode 2017-12-06 08:24:24 +09:00
Peter Barker
527a536b78 Copter: FlightMode - remove function parameters 
Use current control_mode in place of parameters

Once conversion is complete these functions will disappear
 2017-12-06 08:24:24 +09:00
Peter Barker
99a22a263d Copter: a FlightMode base class 2017-12-06 08:24:24 +09:00
Peter Barker
e0233f1dc4 Copter: create a takeoff_state_t type 2017-12-06 08:24:24 +09:00
Peter Barker
b828fa4ffc Copter: Create an ap_t type 2017-12-06 08:24:24 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
c7a2fcdc37 Copter: Also use fence in Guided_PosVel mode 2017-12-05 08:57:55 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas
bd027e4fcb Copter: Move some common functions to AP_Math (NFC) 2017-12-05 08:54:49 +09:00
Peter Barker
398d07a68a Copter: tighten return types of mavlink functions and variables 2017-12-01 17:01:10 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas
9773365237 Copter: NFC spell in comments 2017-11-27 23:13:34 +09:00
Andrew Tridgell
a644cff921 Copter: support testing multiple motors with motortest 
this matches the quadplane behaviour, allowing a sequence of motors to
be tested
 2017-11-27 10:15:31 +09:00
Randy Mackay
9a03ba1bfb Copter: move barometer_accumulate to sensors.cpp 
non-functional change
 2017-11-22 17:13:14 +09:00
Peter Barker
04c9e966e0 Copter: use AP::PerfInfo library 2017-11-16 15:31:53 +00:00
Peter Barker
d959e4b42b Copter: AP_Camera uses GPS singleton 2017-11-16 15:28:37 +00:00
ChrisBird
caaeae3d0a Copter: Separate max ascent and descent speeds 
Added equivalent parameters to WPNAV_SPEED_UP and WPNAV_SPEED_DN

New parameters named:
PILOT_SPEED_UP (technically renamed PILOT_VELZ_MAX)
PILOT_SPEED_DN

Removed parameter PILOT_VELZ_MAX (technically renamed to PILOT_SPEED_UP).

Flight Modes impacted:
ALTHOLD
AUTOTUNE
CIRCLE
LOITER
POSHOLD
SPORT
TAKEOFF

Update a section in GUIDED mode but I don't think it is ever used but update just in case.

It will use the PILOT_SPEED_UP for ascending max velocity.  For down it will check if
it is 0, if so then it will PILOT_SPEED_UP instead, if non zero it will use PILOT_SPEED_DN.
This retains current behavior and gives the flexibility to change it if desired.
 2017-11-09 09:03:54 +09:00
Peter Barker
5b793252ed Copter: stop disarming as part of running rtl as mission item 
Fixed #6324

Note that the land-as-mission-item code is duplicated from the
rtl-as-mode code but omits the disarm part, so doesn't suffer from the
same bug.
 2017-11-06 19:07:28 +00:00
Peter Barker
c7216a2740 Copter: call ins periodic function 2017-10-27 16:33:45 +11:00
Randy Mackay
787954fa37 Copter: integrate winch library 
fixes after peer review:
rename winch-disable to winch-relaxed
add DO_WINCH to do-verify
winch release-length accepts rate
 2017-10-27 09:20:38 +09:00
Andrew Tridgell
951ed95eb9 Copter: support inverted flight CH7 option 2017-10-03 10:16:41 +11:00
Lucas De Marchi
beabae6a98 global: use static method to construct AP_AHRS_NavEKF 2017-09-26 03:01:21 +01:00
Lucas De Marchi
c9fbf7b722 global: use static method to construct AP_NavEKF3 2017-09-26 03:01:21 +01:00
Lucas De Marchi
e2fe36357a global: use static method to construct AP_NavEKF2 2017-09-26 03:01:21 +01:00
Lucas De Marchi
6781a44046 global: use static method to construct AP_Avoidance_* 2017-09-26 03:01:21 +01:00
Lucas De Marchi
6d009cdf6e global: use static method to construct AP_ADSB 2017-09-26 03:01:21 +01:00
Lucas De Marchi
1263e20a0d ArduCopter: use static method to construct AC_InputManager 2017-09-26 03:01:21 +01:00
Lucas De Marchi
e21e02cfdb ArduCopter: use static method to construct AC_PrecLand 2017-09-26 03:01:21 +01:00
Lucas De Marchi
cf6ea9642e global: use static method to construct AP_Terrain 2017-09-26 03:01:21 +01:00
Lucas De Marchi
70d8a08626 ArduCopter: use static method to construct AP_LandingGear 2017-09-26 03:01:21 +01:00
Lucas De Marchi
31db77e47b global: use static method to construct AP_Parachute 2017-09-26 03:01:21 +01:00
Lucas De Marchi
57bbb2e1d9 ArduCopter: use static method to construct AC_Sprayer 2017-09-26 03:01:21 +01:00
Lucas De Marchi
eadd650d78 global: use static method to construct AP_RSSI 2017-09-26 03:01:21 +01:00
Lucas De Marchi
4f42facefc global: use static method to construct AC_Avoid 2017-09-26 03:01:21 +01:00
Lucas De Marchi
b05610870c global: use static method to construct AP_Rally 2017-09-26 03:01:21 +01:00
Lucas De Marchi
c6eb48009b global: use static method to construct AC_Fence 2017-09-26 03:01:21 +01:00
Lucas De Marchi
18aa88b329 global: use static method to construct AP_Mount 2017-09-26 03:01:21 +01:00
Lucas De Marchi
c3647f0185 global: use static method to construct AP_Camera 2017-09-26 03:01:21 +01:00
Lucas De Marchi
cc53e7bc4b global: use static method to construct AP_ServoRelayEvents 2017-09-26 03:01:21 +01:00
Lucas De Marchi
13d7f58036 global: use static method to construct AP_Relay 2017-09-26 03:01:21 +01:00
Lucas De Marchi
9ce6019138 global: use static method to construct AP_Frsky_Telem 2017-09-26 03:01:21 +01:00
Lucas De Marchi
b022c02029 global: use static method to construct AP_BattMonitor 2017-09-26 03:01:21 +01:00
Lucas De Marchi
69b6d95cb2 global: use static method to construct AP_Board_Config{,_CAN} 2017-09-26 03:01:21 +01:00
Lucas De Marchi
a74e700006 global: use static method to construct RCMapper 2017-09-26 03:01:21 +01:00
Lucas De Marchi
72fd2d6f05 global: use static method to construct AP_SerialManager 2017-09-26 03:01:21 +01:00
Lucas De Marchi
fbe0d9761c global: use static method to construct AP_OpticalFlow 2017-09-26 03:01:21 +01:00
Lucas De Marchi
10529feae6 ArduCopter: use static method to construct AP_Arming_Copter 2017-09-26 03:01:21 +01:00
Lucas De Marchi
b36a5919f5 global: use static method to construct AP_Mission 
This also move the initialization to be in the header for those that
weren't already to maintain consistency.
 2017-09-26 03:01:21 +01:00
Lucas De Marchi
de5e044b02 global: use static method to construct AP_RPM 2017-09-26 03:01:21 +01:00
Lucas De Marchi
40fd1b346c global: remove rangefinder from AP_AHRS_NavEKF 
AP_AHRS_NavEKF doesn't use the rangefinder, it just delegates the
calls to the right estimator.

For libraries/AP_AHRS/examples/AHRS_Test/AHRS_Test.cpp the initialization
order has also been modified to match the order on vehicles. It's more
correct since it passes a reference when EKF2/EKF3 are already
constructed, while thos constructors use a pointer.  Ideally these
should be moved to an init() method though, or use a get_instance().
 2017-09-26 03:01:21 +01:00
Lucas De Marchi
9027a55696 global: use static method to construct RangeFinder 2017-09-26 03:01:21 +01:00
Lucas De Marchi
62ac0ab8aa global: use static method to construct AP_Notify 2017-09-26 03:01:21 +01:00
Lucas De Marchi
de680dac5b global: use static method to construct AP_Scheduler 2017-09-26 03:01:21 +01:00
Lucas De Marchi
8094482f21 global: use static method to construct AP_GPS 2017-09-26 03:01:21 +01:00
Lucas De Marchi
87b30b4552 global: use static method to construct AP_InertialSensor 2017-09-26 03:01:21 +01:00
Lucas De Marchi
c1a957fbf3 global: use static method to construct Compass 2017-09-26 03:01:21 +01:00
Lucas De Marchi
91feec0e14 global: use static method to construct AP_Baro 2017-09-26 03:01:21 +01:00
Lucas De Marchi
cd5b018d82 ArduCopter: move version to a static member 
We should never include version.h or ap_version.h headers directly
on a header since this will trigger a complete rebuild of the
codebase when we commit to the repository. The ap_version.h header
is auto-generated containing information from the current commit.

If we include it in a header, every other file that ends up including
that header (directly or indirectly) will need to be rebuilt. No
ccache's cache beats having to do nothing when the header is just
not included.

version.h contains information that is kept on a struct inside
each vehicle. Rather than using the macros from each vehicle,
the getter should be preferred, which returns an AP_FWVersion
referente.
 2017-09-23 21:37:45 -07:00