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7259 Commits

Author SHA1 Message Date
Iampete1 ee31f2322e Copter: takeoff rpm: define out if no ESC telem 2022-09-07 17:03:03 +01:00
Andy Piper fce1fa6752 Copter: make sure motors go through GROUND_IDLE at startup even when in air mode 2022-09-07 17:03:03 +01:00
Andy Piper 2cc9f1463e Copter: disable TKOFF_RPM_MIN on Heli 2022-09-07 17:03:03 +01:00
Randy Mackay 3f96423795 Copter: add takeoff RPM check 2022-09-07 17:03:03 +01:00
Iampete1 b59c179079 Copter: use new motors arming check 2022-09-07 17:54:16 +10:00
Randy Mackay 38665a7935 Copter: fix do-mount-control yaw scaling 2022-09-06 10:17:34 +10:00
Leonard Hall 2165d19af1 Copter: PosHold: remove unnecessary loiter_nav->update 2022-09-02 10:55:48 +09:00
Leonard Hall 57e9e599f4 Copter: Payload Place: Improve touchdown test 2022-09-01 13:49:12 +09:00
Leonard Hall 4b20a2d5f1 Copter: Add control over throttle ramp time during take-off 2022-08-31 19:19:04 -04:00
Leonard Hall 0b1f959ede Copter: fix auto mode is_taking_off 2022-08-30 05:56:08 -04:00
Peter Barker 7c6ec00e11 Copter: display throttle below failsafe only when display_failure set 2022-08-30 17:29:09 +10:00
esaldiran cbadf77652 ArduCopter: support custom controller 2022-08-30 13:10:09 +10:00
Iampete1 353aedb547 Copter: Arming: check EKF height varance 2022-08-29 20:16:02 -04:00
Leonard Hall 427c64eff0 Copter: Replace set_throttle_takeoff with init_z_controller 2022-08-29 13:35:32 +09:00
Henry Wurzburg c7ddc9867d Copter: correct DISARM_DELAY metadata 2022-08-25 20:03:04 -04:00
rishabsingh3003 8fcd42d104 Copter: Convert PRX_ parameters to PRX1_ 2022-08-24 18:26:27 +10:00
Henry Wurzburg 54d5883f87 ArduCopter: add ARM/MOTOR_EMERGENCY_STOP Aux Switch 2022-08-24 16:03:52 +10:00
Andrew Tridgell d18cf7fa75 Copter: removed use of "blended" earth frame accel 2022-08-21 18:51:59 +10:00
Randy Mackay 116ab51e50 Copter: 4.2.3-rc3 release notes 2022-08-20 12:28:11 +09:00
Randy Mackay 658298ed1d Copter: auto takeoff may trigger terrain failsafe 2022-08-19 19:51:26 -04:00
murata d519c94b32 Copter: Clarify the mode 2022-08-19 01:05:53 -04:00
Stephen Dade 58cb4cbfb1 Copter: Make mode flowhold a build option via MODE_FLOWHOLD_ENABLED 2022-08-18 07:46:13 -04:00
Peter Barker 78c742978e ArduCopter: rename OpticalFlow class to AP_OpticalFlow 
Brings us in-line with other classes in ArduPilot.

Removes ambiguity with AP_HAL::OpticalFlow which can cause compilation errors as we start to make code more portable across targets
 2022-08-18 14:24:01 +10:00
Henry Wurzburg d3aebd72d8 Copter: logging disentangle and correct bugs and rename bitmasks 
fix
 2022-08-16 20:16:24 -04:00
Randy Mackay 33d214589f Copter: replace send-mount-status with send-gimbal-device-attitude-status 2022-08-15 20:29:25 -04:00
Peter Barker d39fcfd038 ArduCopter: move call to compass cal update up to AP_Vehicle 2022-08-16 10:06:44 +10:00
Randy Mackay e4484d7f92 Copter: 4.2.3-rc2 release notes 2022-08-15 11:07:57 +09:00
Randy Mackay c7dc1fc441 Copter: 4.2.3-rc1 release notes 2022-08-12 15:56:22 +09:00
Peter Barker cb9f376638 Copter: make rc-in-failsafe checks a prearm check rather than an at-arm check 2022-08-11 20:01:45 -04:00
Peter Barker 1e3f37908c Copter: factor out an rc_throttle_failsafe_checks method 
NFC, preparing to call this from elsewhere
 2022-08-11 20:01:45 -04:00
Andy Piper 9a450a05bb Copter: add fast harmonic notch logging 2022-08-09 03:45:08 -04:00
Andy Piper 1c8d206dfb Copter: fast attitude logging should be at loop rate 2022-08-09 03:45:08 -04:00
Peter Barker 67d8965cad ArduCopter: make terrain checks common between Copter and Plane 2022-08-09 14:31:14 +10:00
Tamas Nepusz 5e7622d593 Copter: reserve mode number 127 and param group 62 for Skybrush 2022-08-09 13:22:07 +10:00
Peter Barker a54321ad12 Copter: remove pointless clause in motor_checks 
check_failed doesn't make any state changes and we return true in either case
 2022-08-08 20:42:26 -04:00
Peter Barker a5dadd2694 Copter: move motors check to be must-run prearm 
motors check would be run twice on arm without this.

After this change, even if ARMING_CHECKS is 0 the user will be warned they need to set FRAME_CLASS and FRAME_TYPE, rather than just when they try to arm the vehicle.
 2022-08-08 20:42:26 -04:00
Iampete1 ac94ba33ff ArduCopter: params always use set method 2022-08-03 13:43:48 +01:00
Leonard Hall 7dd196c7ea Guided Mode support MAV_CMD_DO_CHANGE_SPEED 2022-08-02 10:26:58 +10:00
Leonard Hall 1e87b4b09a Copter: Fix Payload Place Bug 2022-07-28 15:24:54 +10:00
Iampete1 1b160205ab ArduCopter: change AC_FENCE to AP_FENCE_ENABLED 2022-07-27 19:04:56 +10:00
Iampete1 b988391455 Copter: Fence moved to vehicle 2022-07-27 19:04:56 +10:00
Peter Barker 8c915b849a ArduCopter: remove references to config.mk 
dates from APM-build days.  The build server files references APM1 which is long gone.  Users running build_binaries can pollute their own environments, not need for this.
 2022-07-26 21:23:06 +10:00
Leonard Hall 55658985cc Copter: Payload Place fix takeoff 2022-07-26 09:53:31 +10:00
Peter Barker 3480a8f9f9 ArduCopter: save some bytes by removing empty methods based on #ifs 2022-07-22 13:49:51 +10:00
Iampete1 ed4321a5ba Copter: set defualt format version 2022-07-20 17:59:59 +10:00
Randy Mackay d38ac2b520 Copter: 4.2.2-attempt2 release notes 2022-07-18 13:56:01 +09:00
murata f3c23d1629 Copter: Append WHITE SPACE to the else statement 2022-07-18 09:06:14 +09:00
Iampete1 cbaea15c96 Copter: add AIS to ADSB stream rate 2022-07-12 09:39:54 +10:00
RuffaloLavoisier 2172095e3f Copter : correct spelling on comment 2022-07-11 08:51:27 +09:00
Yuri a97a17cce4 Copter: implement set_desired_speed 2022-07-07 19:34:10 +09:00
Randy Mackay 77b2afed3f Copter: release notes for 4.2.2-rc2 2022-07-04 12:11:41 +09:00
Peter Barker 368ad9a06b ArduCopter: remove non-functional FRSKY_TELEM_ENABLED define 2022-06-29 10:59:50 +09:00
Randy Mackay d61ba6d9d1 Copter: do_mount_control specifies body-frame angle targets 
this is not a change in behaviour
 2022-06-29 10:56:48 +09:00
Randy Mackay a160281e5d Copter: 4.2.2 release notes 2022-06-28 08:53:22 +09:00
Bill Geyer e934fe89f2 Copter: make rate time constants default to zero 2022-06-28 07:56:12 +09:00
Bill Geyer 1358b7aa06 Copter: delete unused param variable declarations 2022-06-28 07:56:12 +09:00
Bill Geyer 4fde394395 Copter: add support for command model class 2022-06-28 07:56:12 +09:00
murata 1aae0610a6 Copter: Initialize a string array 2022-06-22 17:25:56 +10:00
Andy Piper 877f98e547 Copter: keep manual throttle mix at zero throttle when airmode is on 
allow landing detection in airmode
increase landing detection timeout in airmode.
 2022-06-22 16:17:26 +09:00
Randy Mackay e9d17484d4 Copter: 4.2.2-rc1 release notes 2022-06-21 20:17:13 +09:00
Randy Mackay ca0ea39d4f Copter: land and payload place obey alt frame 2022-06-21 09:07:36 +09:00
Randy Mackay 46023318d4 Copter: get_rangefinder_height_interpolated_cm made const 2022-06-21 09:07:36 +09:00
Joshua Henderson 13d1b8632b Copter: remove param docs for ACRO_RP_P and _YAW_RP 2022-06-16 09:09:55 +09:00
Randy Mackay 7d13582913 Copter: implement get_rate_bf_targets method 2022-06-15 09:07:14 +09:00
Randy Mackay cd1a62b7bc Copter: move get_wp_xxx declarations higher in Copter.h 
The declarations are grouped by the file in which they appear except for these 3
 2022-06-15 09:07:14 +09:00
Shiv Tyagi b2f3123b0c Copter: avoid ascend beyond fence's max alt in circle mode 2022-06-13 09:06:28 +09:00
Peter Barker fca544a14a Copter: let AHRS update orientation in its own time 2022-06-12 17:32:11 +10:00
Peter Barker cb46764bad ArduCopter: stop passing serialmanager into beacon constructor 2022-06-11 16:02:37 +10:00
Randy Mackay cedac30a62 Copter: remove ToshibaCAN support 2022-06-10 12:08:05 +09:00
Randy Mackay 7247bc50e5 Copter: remove unused MSG_GIMBAL_REPORT 2022-06-07 09:27:47 +10:00
Randy Mackay fd63dab3ca Copter: 4.2.1 release notes 2022-06-07 07:58:59 +09:00
Andrew Tridgell 161ab4b330 Copter: fixed use of configured() vs configured_in_storage() 2022-06-06 13:11:50 +10:00
Leonard Hall 0c008fe8a9 Copter: AP_Math: Move rc_input_to_roll_pitch conversion to AP_Math 2022-05-31 08:08:17 +09:00
Leonard Hall 08cdde5608 Copter: Clarify get_pilot_desired_lean_angles and fix limit 2022-05-31 08:08:17 +09:00
Randy Mackay fc9a792f88 Copter: minor comment fix to auto mode 2022-05-31 07:50:16 +09:00
Randy Mackay dd0d1d6b3c Copter: minor comment fixes to ekf failsafe 
the bad variances can be from the compass, velocity or position estimate
 2022-05-31 07:50:16 +09:00
Randy Mackay 5cde018198 Copter: auto does not require GPS during attitude_time commands 2022-05-31 07:50:16 +09:00
Randy Mackay 0f73d705a7 Copter: add failsafe_ekf_recheck 
this allows modes to retrigger the EKF failsafe if they move from a sub mode that did not require GPS to one that does
 2022-05-31 07:50:16 +09:00
Randy Mackay ecad165f86 Copter: remove Auto mode's rare use of mode() method 2022-05-31 07:50:16 +09:00
Randy Mackay b5c58d5c13 Copter: auto supports NAV_ATTITUDE_TIME command 2022-05-31 07:50:16 +09:00
Randy Mackay 9014d92a22 Copter: 4.2.1-rc1 release notes 2022-05-28 16:31:22 +09:00
Randy Mackay b60d6348ed Copter: add dead reckon failsafe 2022-05-25 20:05:21 +09:00
Randy Mackay c102270e72 Copter: ekf_has_relative_position may use wind estimate 2022-05-25 20:05:21 +09:00
Randy Mackay b6c1bc291b Copter: 4.2.0 release notes 2022-05-23 16:17:00 +09:00
murata 5096fe5fd2 Copter: Supports 32 servos 2022-05-23 10:08:38 +10:00
Andrew Tridgell 424c3b953a Copter: 32 servo conversion 2022-05-22 12:07:37 +10:00
murata 3b47da3d30 Copter: Clarify that the target_yaw_rate variable is set 2022-05-20 11:21:22 +09:00
Rishabh 1e7203616b Copter: Do not allow automatic yaw while prec land retry 2022-05-19 15:31:41 +09:00
Peter Barker efe1dfe0f4 ArduCopter: run prearm checks on all vehicles @1Hz, displaying @0.0333Hz 2022-05-18 12:25:26 +09:00
khanasif786 e7b0aff8ec Copter:changed GPS glitch message 2022-05-18 09:25:14 +09:00
Andrew Tridgell 705ec9040c Copter: allow VTOL_TAKEOFF and VTOL_LAND as synonyms 
this allows is_takeoff_next() to be in common, and reduces confusion
if user selects VTOL_TAKEOFF in a GCS mission editor
 2022-05-18 06:43:16 +10:00
murata fd9bb4c3d2 Copter: Console output can be disabled 2022-05-17 09:53:06 +10:00
Randy Mackay 50bf204c2d Copter: 4.2.0-rc4 release notes 2022-05-16 08:21:36 +09:00
Leonard Hall b8a92058b1 Copter: Dissable yaw slew in loiter 2022-05-14 22:31:43 +09:00
Bill Geyer 889a9b0f06 Copter: fix position ctrl init for guided takeof 2022-05-14 12:16:02 +09:00
RuffaloVM f2574c8d35 ArduCopter : case label indentation 2022-05-12 09:24:10 +09:00
Peter Barker 3bf0a21887 ArduCopter: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS 2022-05-11 17:40:35 +10:00
Peter Barker b0c8fda8d4 ArduCopter: move logging of compass ERR flags into AP_Compass 2022-05-10 19:46:40 +10:00
Peter Barker fdb971fc0b Copter: remove duplicate logging of mavlink parachute enable/disable 2022-05-10 08:47:11 +09:00
Peter Barker 6201fd3cf0 Copter: remove duplicate logging of RC parachute enable/disable 2022-05-10 08:47:11 +09:00
Peter Barker c789755372 ArduCopter: remove handling of MAVLINK_MSG_ID_SET_HOME_POSITION 
We decided to remove this after 4.2 was out in favour of
MAV_CMD_DO_SET_HOME which has been available since 2015.

The gcs-maintainers list was notified in Feburary.
 2022-05-10 09:46:22 +10:00
Randy Mackay 1ac8661899 Copter: vibration compensation turns off in manual modes 2022-05-09 08:40:28 +09:00
Randy Mackay 876f28d8fe Copter: 4.2.0-rc3 release notes 2022-05-07 08:45:49 +09:00
Peter Barker 6830092a7d ArduCopter: move error logging of sensor health into AP_Baro 2022-05-03 17:38:09 +10:00
Randy Mackay b56bd41034 Copter: radio fs continue-if-guided loses dependency on gcs failsafe 2022-05-03 08:36:20 +09:00
Randy Mackay b3869f3a7c Copter: minor format fix 2022-05-03 08:36:20 +09:00
Randy Mackay 361a7483ff Copter: remove empty led.cpp 2022-05-03 08:36:20 +09:00
Andy Piper 01766eee01 Copter: use new Task infrastructure for the fast loop 
add helper for running rate controller
add fast_loop documentation.
 2022-05-03 08:20:13 +09:00
Mirko Denecke 4d34d36ede ArduCopter: fix auxiliary typo 2022-05-02 10:55:08 +10:00
Randy Mackay fdc9aa79ff Copter: 4.2.0-rc2 release notes 2022-04-29 08:11:46 +09:00
Peter Barker f4b46d3b9c ArduCopter: add PARAMETER CONVERSION comments 2022-04-28 10:17:11 +10:00
Tatsuya Yamaguchi a4d3607de1 Copter: move Disarm/EStop/Interlock check from arm_checks to run_pre_arm_checks 2022-04-27 09:36:36 +09:00
Tatsuya Yamaguchi b636abfde0 Copter: add disable prearm display option 2022-04-27 09:36:36 +09:00
Randy Mackay 5ad6a0d2ef Copter: implement has_ekf_failsafed for use by lua 2022-04-26 18:37:54 +09:00
Andrew Tridgell eb4a70f613 Copter: moved harmonic notch update code to AP_Vehicle 2022-04-19 09:39:03 +10:00
Andrew Tridgell 13107dfa6d Copter: support harmonic notch on 2nd RPM sensor 2022-04-19 09:39:03 +10:00
Andrew Tridgell c03436b5e4 Copter: update for changed INS_NOTCH parameter name 2022-04-19 09:39:03 +10:00
Andrew Tridgell 8d187f4bc6 Copter: support two full harmonic notch filters 2022-04-19 09:39:03 +10:00
Andrew Tridgell 47e95c2a88 Copter: param conversion for INS_NOTCH to INS_HNTC2 2022-04-16 08:14:06 +10:00
Bill Geyer 836ae87955 Copter: properly set feedforward enabled before exit 2022-04-14 07:49:38 +09:00
Peter Barker 39eca59938 ArduCopter: move logging of Beacon into Beacon library 2022-04-13 16:22:19 +10:00
Peter Barker de2182b88f ArduCopter: move logging of Proximity into Proximity library 2022-04-13 16:22:19 +10:00
Randy Mackay da21c47f43 Copter: 4.2.0-rc1 release notes 2022-04-09 20:39:02 +09:00
Peter Barker 32cfe70a44 ArduCopter: stop libraries including AP_Logger.h in .h files 
AP_Logger.h is a nexus of includes; while this is being improved over
time, there's no reason for the library headers to include AP_Logger.h
as the logger itself is access by singleton and the structures are in
LogStructure.h

This necessitated moving The PID_Info structure out of AP_Logger's
namespace.  This cleans up a pretty nasty bit - that structure is
definitely not simply used for logging, but also used to pass pid
information around to controllers!

There are a lot of patches in here because AP_Logger.h, acting as a
nexus, was providing transitive header file inclusion in many (some
unlikely!) places.
 2022-04-08 19:18:38 +10:00
Peter Barker 5539b55c01 Copter: factor failsafe reporting 2022-04-06 10:40:09 +10:00
Randy Mackay 2f03e2a75f Copter: 4.2.0-beta3 release notes 2022-03-30 19:55:45 +09:00
Bill Geyer 26297069d3 Copter: make systemid use new chirp math function 2022-03-29 08:05:41 +09:00
Randy Mackay f1c072bcd2 Copter: auto mode sets submode after all possible failures are passed 2022-03-24 19:24:25 +09:00
Randy Mackay f6166906e0 Copter: guided mode takeoff failure leaves submode unchanged 2022-03-24 19:24:25 +09:00
Leonard Hall 0591d760ea Copter: Clarify calculations in get_pilot_desired_lean_angles 2022-03-24 13:46:52 +09:00
Peter Barker df6efc37ac ArduCopter: split AP_HAL_SITL and AP_SIM_ENABLED 2022-03-17 14:39:55 +11:00
murata 08a1ad3c39 Copter: Change from division to multiplication 2022-03-16 18:41:52 +11:00
Randy Mackay f345ab1581 Copter: 4.2.0-beta2 release notes 2022-03-12 08:07:52 +09:00
Randy Mackay 553ad877f6 Copter: fix takeoff to terrain alt 2022-03-11 18:12:27 +09:00
Randy Mackay 759e2b1b55 Copter: rename auto_take_off_xx to auto_takeoff_xx 2022-03-11 18:12:27 +09:00
murata 77d898c951 Copter: Change the process for errors 2022-03-08 14:36:19 -08:00
murata,katsutoshi 8037eaf4cf Update ArduCopter/GCS_Mavlink.cpp 
Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>
 2022-03-08 14:36:19 -08:00
murata 926558a808 Copter: Change the process for errors 2022-03-08 14:36:19 -08:00
RuffaloVM 0ce3f91f63 ArduCopter : case label indentation 2022-03-08 14:24:46 -08:00
m f0e1b3eb9f Copter: Pause/Continue in AUTO and GUIDED modes with SCurves 2022-03-08 13:12:36 +09:00
Leonard Hall 670af8d469 Copter: Add pause in guided mode 2022-03-08 13:12:36 +09:00
Leonard Hall 18696e923e Copter: WP Pause support 2022-03-08 13:12:36 +09:00
Leonard Hall cf5565f17c Copter: tighten auto_takeoff_complete checks 2022-03-07 16:14:23 +09:00
Leonard Hall 93cff95448 Copter: remove loiter_nav from auto 2022-03-07 16:14:23 +09:00
Leonard Hall fb6c3ebb72 Copter: auto and guided takeoff use postion controller 2022-03-07 16:14:23 +09:00
Leonard Hall b5a4f24559 Copter: use position controller for landing reposition 2022-03-07 16:14:23 +09:00
Andy Piper 11a5c8d2a4 Copter: nuke clang warnings 2022-03-03 16:34:14 +11:00
Randy Mackay 0b29d0243d Copter: version to 4.3.0-dev 2022-03-02 09:57:14 +09:00
Shiv Tyagi 7765399e49 Copter: change circle_nav.set_radius to circle_nav.set_radius_cm 2022-03-01 09:31:10 +09:00
Peter Barker bfb8e7df81 ArduCopter: include cleanups 2022-03-01 11:21:33 +11:00