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176 Commits

Author SHA1 Message Date
Peter Barker 7f69c5d26d Copter: use scheduler ticks in place of mainloop_count 2018-02-13 17:15:05 +11:00
Peter Barker bf6a2b8bb5 Copter: tell PerfInfo the configured loop rate 2018-02-13 17:15:05 +11:00
murata c31c2a4cf1 Copter: optionalize the winch 2018-02-12 12:16:57 +09:00
Peter Barker 40d74584ac Copter: remove shims used in scheduler 2018-02-12 11:19:34 +09:00
Andrew Tridgell daf35f7a30 Copter: pass loop rate to perf_info 2018-02-08 17:36:33 +11:00
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 15166eff2e Copter: enable temperature calibration library 2018-02-08 17:36:33 +11:00
Andrew Tridgell 1f76f69d80 Copter: implement per-motor compass compensation 2018-02-08 17:36:33 +11:00
Randy Mackay 2d23e1f7c7 Copter: rename flightmode_ objects to mode_ 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
Peter Barker ef1489e87a Copter: eliminate mode_requires_gps 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 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
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 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
Randy Mackay 44a436642b Copter: complete rename to SmartRTL 
Also fix parameter description for CH7_OPT
 2017-09-15 08:58:14 +09:00
squilter 4b57a4a231 Copter: rename SafeRTL to SmartRTL 2017-09-09 14:05:41 +09:00
squilter ba0e08552f Copter: add SafeRTL flight mode 2017-09-09 14:05:41 +09:00
squilter 00ace08b54 Copter: minor formatting fixes 2017-08-30 20:07:11 +09:00
Peter Barker 30fac9160e Copter: mavlink PERF messages also spit out average and standard deviation 2017-08-29 21:31:46 +01:00
Peter Barker 02a590024d Copter: base loop time remaining on variable loop rate 2017-08-26 09:33:45 +09:00
Peter Barker c6b9c84d1f Copter: remove CLI 2017-08-14 10:23:50 +09:00
Peter Barker cdf9ebcb39 Copter: camera is responsible for taking distance-based-images and logging 2017-07-28 14:27:53 +01:00
Randy Mackay f97e43919b Copter: add gps glitch notification and pre-arm check 2017-07-27 14:16:23 +09:00
Peter Barker 0ac045febe Copter: eliminate gcs_send_message wrapper 2017-07-11 23:45:16 +01:00
Peter Barker f60389d4aa Copter: use send_text method on the GCS singleton 2017-07-09 17:17:29 -04:00
Peter Barker 776d691c79 Copter: use DataFlash should_log to determine raw logging 2017-06-29 15:26:27 +01:00
Leonard Hall 7eab1239c7 Copter: attitude logging at 400hz 2017-06-22 15:18:04 +09:00
Randy Mackay cb76bd8f3d Copter: compass set-initial-location uses ahrs location 
Previously it could attempt to use a gps location even if gps was not being used
Also compass-accumulate moved to sensors.cpp
 2017-06-07 13:01:38 +09:00
Peter Barker b37e64b23c Copter: stop appending lf to PERF message 2017-05-01 16:21:55 +01:00
Randy Mackay 713c08672f Copter: integrate AP_VisualOdom 2017-04-19 11:04:40 +09:00
Andrew Tridgell b4d9397821 Copter: re-arrange fast_loop for minimum latency 
this makes motor outputs as responsive as possible to gyros
 2017-04-03 13:04:11 +09:00
Randy Mackay ca4cbaeb39 Copter: run rate controllers before AHRS/EKF update 
This reduces lag between IMU updates and motor outputs by 0.6 milliseconds
 2017-03-03 13:14:28 +11:00
Dr.-Ing. Amilcar Do Carmo Lucas 4161c34e61 Copter: rename MSG_RADIO_OUT to MSG_SERVO_OUTPUT_RAW to better describe what it is 2017-02-07 11:41:12 +11:00
Randy Mackay cb1f7ba4bb Copter: remove setting position control's altitude max 
AC_Avoid now takes responsibility for enforcing the alt limit and accesses inertial nav's limit directly
 2017-01-18 09:35:47 +09:00
Peter Barker bd6ffc025e Copter: start conversion to AP_Arming_Copter 2017-01-17 11:45:08 +09:00
Andrew Tridgell 0f6d0c5ba9 Copter: combined tri, single, coax and multicopter into a single build 
this allows copter to be just 2 builds, one for heli, and one for
everything else
 2017-01-12 17:39:37 +11:00
Andrew Tridgell 5a87ae3f01 Copter: use new SRV_Channels API 2017-01-12 17:39:37 +11:00
Randy Mackay bdbb07a3b1 Copter: remove version from Copter.cpp 
Also added wiki page URL
 2017-01-11 08:46:43 +09:00
Randy Mackay 12d024e0c6 Copter: rename FRAME to FRAME_TYPE 
This unifies the plane and copter parameter names
 2016-12-31 10:55:23 +09:00
Randy Mackay 0ac00dbfd6 Copter: add FRAME_CLASS parameter 2016-12-31 10:55:23 +09:00
Randy Mackay 74c9c4aa9d Copter: add beacon data flash logging 
Added to Copter vehicle because currently only used by Copter
 2016-11-30 17:56:59 +09:00
Randy Mackay f2a6a4f4f9 Copter: update beacon updates to 400hz 2016-11-30 17:56:58 +09:00
Randy Mackay 21c7ea1df7 Copter: integrate AP_Beacon 2016-11-30 17:56:55 +09:00
Peter Barker 236b8ab6b7 Copter: make EPM a subclass of AP_Gripper_Backend 2016-11-05 10:20:39 +09:00
Peter Barker 920868145c Copter: support for AP_Gripper 2016-11-05 10:20:33 +09:00
Peter Barker 1bb6350a67 Copter: periodically call stats update 2016-10-29 14:53:25 +09:00
floaledm 34718b130a Copter: update sensor status error flags independently of sending a sys_status message 
Without this, there is no update to the sensor status flags in the Frsky
lib unless there's an active Mavlink connection configured to send
extended_status1
 2016-10-28 10:03:38 +11:00
Mathieu OTHACEHE 152edf7189 Global: remove mode line from headers 
Using a global .dir-locals.el file is a better alternative than
reincluding the same emacs header in every file of the project.
 2016-10-24 09:42:01 -02:00
Randy Mackay 1f160f2903 Copter: minor comment update 
No functional change
 2016-10-22 13:31:16 +09:00
Randy Mackay a07ecfe2b3 Copter: log proximity sensor at 10hz 
This is current in the Copter vehicle code but we can move to the dataflash library when other vehicles start using this type of sensor.  Until then adding it to common will just increase the dependencies unnecessarily for other vehicles.
 2016-10-13 20:21:07 +09:00
Randy Mackay fcc2a1b378 Copter: integrate AP_Proximity into main vehicle 2016-10-13 20:21:07 +09:00
Randy Mackay 35864c6226 Copter: move check_ekf_reset to ekf_check.cpp 
No functional change
 2016-10-10 16:40:08 +09:00
Andrew Tridgell f18e0dadc9 Copter: added optional AdvancedFailsafe for copter and heli 2016-08-25 14:14:18 +10:00
floaledm f73fa1fc80 Copter: removed frsky_telemetry_send scheduled task 2016-08-25 10:16:17 +10:00
Tom Pittenger e9d34c07d2 Copter: reduce scheduler max-time for avoid-adsb from 400 to 100 2016-08-17 22:38:54 -07:00
murata 4eee3b1317 Copter: fix underflow in scheduler 
If fast_loop method executed time is over MAIN_LOOP_MICROS,
scheduler.run method set value is  0.
 2016-08-09 22:54:27 -03:00
Randy Mackay 9842840346 Copter: GND_EFFECT_COMP parameter to enable ground effect compensation 2016-08-09 13:31:36 +09:00
Randy Mackay 6118bf1b14 Copter: remove adsb sensor library based avoidance 
adsb based avoidance has been moved to AP_Avoidance library
 2016-07-25 20:24:37 +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
Tom Pittenger d136737c87 Copter: add ADSB-out support for copter 2016-07-20 22:46:54 -07:00
Jonathan Challinger 0f4367744f Copter: update precland at 400hz, log at 25hz 2016-07-12 18:40:25 +09:00
Andrew Tridgell b5ccd458d3 Copter: added 10Hz logging of controller RMS values 
as discussed with Leonard
 2016-06-29 14:43:44 +10:00
Leonard Hall e9d8a28ec0 Copter: AP_Motor's throttle_hover replaces throttle_average 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
Randy Mackay 5461002eea Copter: read rangefinder at 20hz 2016-05-21 10:36:53 +09:00
Randy Mackay ba38b0234f Copter: use rangefinder class's valid_range_count 
Also read_rangefinder directly updates rangefinder_alt variable instead of returning distance
No functional change
 2016-05-21 10:36:53 +09:00
Randy Mackay 7689315ba2 Copter: rename sonar to rangefinder 2016-05-21 10:36:53 +09:00
skyscraper 6f200fa923 ArduCopter: Fix up after refactoring RC_Channel class 
Further to refactor of RC_Channel class which included
adding get_xx set_xx methods, change reads and writes to the public members
to calls to  get and set functionsss

old public member(int16_t)   get function -> int16_t     set function (int16_t)
(expression where c is an object of type RC_Channel)
c.radio_in                     c.get_radio_in()           c.set_radio_in(v)
c.control_in                   c.get_control_in()         c.set_control_in(v)
c.servo_out                    c.get_servo_out()          c.set_servo_out(v)
c.pwm_out                      c.get_pwm_out()            // use existing
c.radio_out                    c.get_radio_out()          c.set_radio_out(v)
c.radio_max                    c.get_radio_max()          c.set_radio_max(v)
c.radio_min                    c.get_radio_min()          c.set_radio_min(v)
c.radio_trim                   c.get_radio_trim()         c.set_radio_trim(v);

c.min_max_configured() // return true if min and max are configured

Because data members of RC_Channels are now private and so cannot be written directly
 some overloads are provided in the Plane classes to provide the old functionality

new overload Plane::stick_mix_channel(RC_Channel *channel)
which forwards to the previously existing
void stick_mix_channel(RC_Channel *channel, int16_t &servo_out);

new overload Plane::channel_output_mixer(Rc_Channel* , RC_Channel*)const
which forwards to
(uint8_t mixing_type, int16_t & chan1, int16_t & chan2)const;

Rename functions

 RC_Channel_aux::set_radio_trim(Aux_servo_function_t function)
    to RC_Channel_aux::set_trim_to_radio_in_for(Aux_servo_function_t function)

 RC_Channel_aux::set_servo_out(Aux_servo_function_t function, int16_t value)
    to RC_Channel_aux::set_servo_out_for(Aux_servo_function_t function, int16_t value)

 Rationale:

        RC_Channel is a complicated class, which combines
        several functionalities dealing with stick inputs
        in pwm and logical units, logical and actual actuator
        outputs, unit conversion etc, etc
        The intent of this PR is to clarify existing use of
        the class. At the basic level it should now be possible
        to grep all places where private variable is set by
        searching for the set_xx function.

        (The wider purpose is to provide a more generic and
        logically simpler method of output mixing. This is a small step)
 2016-05-10 16:21:16 +10:00
Andrew Tridgell 9da3b8db60 Copter: only log baro, gps and mag if ekf not logging them 2016-05-07 18:27:19 +10:00
Andrew Tridgell b235304235 Copter: reduce IMU logging to 25Hz 
leave more room for IMT logging needed for Replay
 2016-05-07 18:27:17 +10:00
Randy Mackay 47658fe964 Copter: add terrain failsafe 2016-04-30 10:33:01 +09:00
Randy Mackay 13c26eab67 Copter: update current_loc at 400hz 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
Luis Vale Gonçalves 4e594287eb Revising ardupilot.com to .org 
Revising ardupilot.com to .org
 2016-04-23 22:49:39 -07:00
Randy Mackay 554affeaf5 Copter: fix scheduler comment 2016-04-22 21:30:39 +09:00
Randy Mackay 1f20a5ef69 Copter: access angle and rate PIDs through attitude controller 2016-04-01 11:59:30 +09:00
Leonard Hall c3403a128c Copter: throttle passed to compass in 0 to 1 range 2016-04-01 11:59:30 +09:00
Andrew Tridgell 224c99af72 Copter: change code URL 2016-03-25 20:46:54 +11:00
Andrew Tridgell 31000ac756 Copter: moved Log_Write_Rate() to common code 2016-03-25 12:13:59 +11:00
Andrew Tridgell 4efb9bd785 ArduCopter: update for changed AP_Camera API 2016-01-29 09:19:43 +11:00
Dario Lindo Andres 90bf13279b ArduCopter: Added precise camera trigger logging 
Added update_trigger and check_digital_pin functions
added camera trigger precise time mark
detect camera feedback pin status
added support for simple digital pin
included support for digital pin. Already included in
APMrover2.
added support for TRIGGER MSG
corrected according to defines.h
 2016-01-29 09:19:43 +11:00
Randy Mackay 27ed9e1561 Copter: allow mount to be disabled 2016-01-23 10:35:48 +09:00
Jonathan Challinger 22c3397657 Copter: make AP_Mount calls required by AP_Mount_SoloGimbal 2016-01-23 10:35:42 +09:00
bugobliterator 9a976963aa Copter: support AP_AccelCal 2015-12-29 10:46:34 -08:00
Jonathan Challinger 750cacc875 Copter: barometer ground effect compensation 2015-12-28 13:51:27 +09:00
Andrew Tridgell 4dd8714880 Copter: changed to Hz based task table 2015-12-27 14:57:21 +09:00
Jonathan Challinger 933ffb2b10 Copter: move prearm logic to arming_checks.cpp 2015-12-24 14:10:23 +09:00
Andre Kjellstrup eb0daee4b3 ArduCopter: Camera options for better camera control 
All on one because they would not pass autotest if split up.
 2015-12-18 18:16:11 +11:00
Randy Mackay 4ef53427f2 Copter: allow ADSB to be disabled 2015-11-27 15:02:17 +09:00
Tom Pittenger 34d6d985e9 Copter: Add support for ADS-B 2015-11-27 15:02:15 +09:00
Caio Marcelo de Oliveira Filho c7acc46d09 Copter: use millis/micros/panic functions 2015-11-20 12:26:31 +09:00
Randy Mackay 1b29a1af46 Copter: consolidate setting of using-iterlock state 2015-11-17 09:02:31 +09:00
Randy Mackay 731c44d053 Copter: allow terrain to be excluded from build 2015-11-14 12:38:47 +09:00
Robert Lefebvre 2632a2e348 Copter: Rework arming proceedures for interlock/Estop 
to fix race condition.
 2015-11-12 19:37:15 +09:00
Jonathan Challinger 6524222397 Copter: adapt auto disarm check to use a timer 2015-11-09 15:34:41 +09:00
lvale 549695181c Copter: revised and uniformization of severity messages 2015-11-05 12:20:49 +09:00