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581 Commits

Author SHA1 Message Date
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
Peter Barker ff82f23cf6 Copter: factor out a ekf_check_position_problem method 2017-09-19 12:44:43 +01:00
Randy Mackay 1b3cc9289b Copter: support SET_GPS_GLOBAL_ORIGIN 
also remove setting of origin from DO_SET_HOME command
initialise ekf_origin location when consuming SET_GPS_GLOBAL_ORIGIN
set_ekf_origin performs sanity check on location
 2017-09-19 10:30:15 +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
Peter Barker 6b5fd5fbdd Copter: move gcs_out_of_time into GCS object 2017-09-12 18:28:07 +01:00
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
Peter Barker 470e790117 Copter: add constant structure holding firmware version 2017-08-30 15:54:46 +01:00
Peter Barker 30fac9160e Copter: mavlink PERF messages also spit out average and standard deviation 2017-08-29 21:31:46 +01:00
Peter Barker aa06fc499c Copter: use GCS_MAVLINK subclasses to handle set_mode 2017-08-16 11:58:10 +10:00
Peter Barker c6b9c84d1f Copter: remove CLI 2017-08-14 10:23:50 +09:00
Jani Hirvinen bdbe26eb28 Copter: minor comment fix 
small edit on comments to kickoff autobuild
 2017-08-09 20:14:22 +09:00
Peter Barker 431e3443bd Copter: move try_send_message send_hwstatus up 2017-08-03 14:33:37 +01:00
Peter Barker 3e5665735f Copter: move try_send_message mission handling up 2017-08-03 14:24:47 +01:00
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
khancyr 49755063ab Copter: move send_proximity to GCS common code (NFC) 2017-07-24 13:44:43 +01:00
Peter Barker e45efeb829 Copter: move starting of new logs into DataFlash 2017-07-19 16:37:28 +01:00
Randy Mackay 2b98fd765d Copter: guided_set_destination accepts relative yaw 2017-07-12 13:27:45 +09:00
Randy Mackay 4c9e118ceb Copter: set_auto_yaw_look_at_heading takes bool for relative angle arg 
No functional change
 2017-07-12 13:27:45 +09:00
Randy Mackay 9b05f1d9c7 Copter: add auto-yaw-rate and replace guided_angle_state.use_yaw_rate 
We use the auto_yaw_mode in auto and guided modes to allow various yaw behaviours
This commit adds a new AUTO_YAW_RATE control to the mode and uses it within guided mode.
This new RATE control is not currently used within auto mode because there is no way (yet) for a mission command to specify a desired rate.
 2017-07-12 13:27:45 +09:00
kouseii 4dd7d9eaff Copter: guided mode supports heading and yaw-rate target 2017-07-12 13:27:45 +09:00
Peter Barker 358555446b Copter: eliminate gcs_send_mission_item_reached wrapper 2017-07-11 23:45:16 +01:00
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 d9b45cc202 Copter: create GCS subclass, use inheritted methods 2017-07-07 16:18:37 +01:00
Eugene Shamaev 24c390ade0 ArduCopter: move of CAN parameters into separate group 2017-07-03 11:44:32 +01:00
Peter Barker 8b57405143 Copter: handle knowledge of in_log_download in DataFlash 2017-06-27 03:10:43 +01:00
Leonard Hall 7eab1239c7 Copter: attitude logging at 400hz 2017-06-22 15:18:04 +09:00
Pierre Kancir 261eb387eb ArduCopter: change rangefinder msg for common one 2017-06-08 01:31:43 +01:00
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
Randy Mackay 814cadac68 Copter: consolidate set_home functions 
added lock argument instead of having twice as many functions
no functional change
 2017-06-07 13:01:38 +09:00
Peter Barker 0bc17645fb Copter: AutoTune: add gcs messages detailing wait-for-level state 2017-05-18 09:36:00 +09:00
Peter Barker 586a5df814 Copter: add GCS messaging during autotune 2017-05-18 09:36:00 +09:00
Randy Mackay 91d4b4777b Copter: respond to param list request after motor init 2017-05-15 14:13:43 +09:00
Randy Mackay a3450a955d Copter: fix LED notify during auto esc calibration 2017-05-11 11:30:05 +09:00
Randy Mackay 713c08672f Copter: integrate AP_VisualOdom 2017-04-19 11:04:40 +09:00
Jonathan Challinger 054aab738b Copter: remove const qualifier from do_precision_loiter 2017-03-29 14:06:12 +09:00
Andrew Tridgell 6bb5c16fb8 Copter: allow for HELI_DUAL configurations 2017-03-25 16:22:10 +11:00
Randy Mackay 8140353c64 Copter: log event when primary GPS changes 2017-03-13 11:31:51 +11:00
Peter Barker 1d70a337dd Copter: remove unused desired_climb_rate variable 2017-03-09 19:52:58 +11:00
Andrew Tridgell 0d1bcd3b94 Copter: added automatic yaw to autotune position control 2017-02-27 19:34:44 +09:00
Andrew Tridgell 37fca03db3 Copter: implement simple position hold during autotune 
this holds position during tuning with low gain
 2017-02-27 19:34:36 +09:00
Randy Mackay 51c00f8144 Copter: use only downward facing rangefinder 2017-02-27 15:18:16 +09:00
Peter Barker 029aeeb4fd Copter: support for a GCS singleton 2017-02-13 09:32:01 +11:00
Peter Barker f49f153da0 Copter: rename gcs[] to gcs_chan[] 
Wish to use gcs() to return the gcs singleton
 2017-02-13 09:32:01 +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
Randy Mackay b15d341850 Copter: add avoidance adjusted climb rate 2017-01-18 09:35:47 +09:00
Randy Mackay cc217550c0 Copter: rename arming_checks to AP_Arming 2017-01-17 11:45:08 +09:00
Peter Barker bd6ffc025e Copter: start conversion to AP_Arming_Copter 2017-01-17 11:45:08 +09:00
Andrew Tridgell 1297a7dedb Copter: convert the rest of motors class for tricopter 2017-01-12 17:39:37 +11:00
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
Francisco Ferreira 11b635df12
Copter: correct limit status to fence status 2017-01-12 02:00:51 +00:00
Peter Barker a233024e05 Copter: fix compilation when fence andd proximity are disabled 
This adds AC_AVOID_ENABLED; avoidance must be disabled if either
of fence or proximity are disabled.

Parameter definitions have been reordered to avoid compiler warnings;
this make sthe numbering non-linear
 2017-01-03 10:44:03 +09:00
Randy Mackay 01bcf5e528 Copter: add arming checks for motor setup 2016-12-31 10:55:23 +09:00
Randy Mackay 217757fdc8 Copter: default FRAME_CLASS 2016-12-31 10:55:23 +09:00
Randy Mackay 0ac00dbfd6 Copter: add FRAME_CLASS parameter 2016-12-31 10:55:23 +09:00
Andrew Tridgell c3b9dbf5c8 ArduCopter: Add EKF3 and remove EKF1 2016-12-19 08:07:09 +11:00
Pierre Kancir 3fc17a5ed5 Copter: avoid must be initialized after fence as it use it 2016-12-05 10:59:45 -08:00
Peter Barker 556eb88fe5 Copter: fix compile when precland is not selected 
Fixes #5327
 2016-12-05 20:03:00 +09:00
Peter Barker 289aba4350 Copter: support for NAV_CMD_PLACE 2016-12-02 12:52:53 +11:00
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 21c7ea1df7 Copter: integrate AP_Beacon 2016-11-30 17:56:55 +09:00
Andrew Tridgell bcea3ac8d4 Copter: handle rangefinder glitches in alt tracking 
this handles glitches from the rangefinder when tracking the
ground. It requires 3 readings in a row to settle on a new target
altitude

thanks to discussions with Leonard and Randy
 2016-11-28 17:36:01 +11:00
Randy Mackay 7485de3498 Copter: add send_proximity to send distances to GCS 2016-11-27 15:05:46 +09:00
Randy Mackay 218c8b2d16 Copter: proximity pre-arm check displays closet object 2016-11-27 15:05:44 +09:00
Peter Barker e72f5a6240 ArduCopter: enable/disable precision loiter on a switch 
A switch MUST be assigned for precision loiter to be enabled
 2016-11-18 09:41:56 +09:00
Peter Barker 9e4628af58 Copter: precision loiter 2016-11-18 09:41:56 +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
Peter Barker df07cb525a Copter: use AP_Stats to store statistics about vehicle 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
Leonard Hall fec24437f2 Copter: load accel throttle I term from attitude controller input 
Previously we loaded up the I term from the pilot's input but a more reliable method is to get what was passed into the attitude controller.  In particular the addition of the acro-thr-mid parameter means the pilot's input must be interpreted differently for different flight modes.
 2016-10-15 11:27:53 +09:00
Randy Mackay a124001b8b Copter: get_pilot_desired_throttle gets thr_mid argument default 2016-10-15 11:27:53 +09:00
Leonard Hall 5c47f3f9e5 Copter: add acro throttle and yaw expo and smoother manual pilot throttle 2016-10-15 11:27:53 +09:00
Randy Mackay 0aab175051 Copter: move proximity to g2 2016-10-14 14:02:29 +09:00
Jonathan Challinger f2ef8eec8c Copter: use velocity output from AC_PrecLand 2016-10-14 10:46:08 +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 26c3295042 Copter: ignore first ekf core switch 
The ekf core is initialised to -1 but after initialisation changes to zero.  Ignore this first change.
 2016-10-13 15:20:16 +09:00
Randy Mackay d74ae535d1 Copter: log EKF lane switch 2016-10-10 16:40:08 +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
murata 7148cc6239 Copter: Return value is changed to Enum Value. 2016-10-05 08:25:15 -03:00
Andrew Tridgell f18e0dadc9 Copter: added optional AdvancedFailsafe for copter and heli 2016-08-25 14:14:18 +10:00
floaledm 893614897e Copter: moved MAV_TYPE to Copter.h 2016-08-25 10:16:20 +10:00
Andrew Tridgell a14ff8ac77 Copter: fixes for Frsky_Telem API changes 2016-08-25 10:16:20 +10:00
floaledm 157db51b9d Copter: make control_sensor vars available outside of send_extended_status1 2016-08-25 10:16:18 +10:00
floaledm f73fa1fc80 Copter: removed frsky_telemetry_send scheduled task 2016-08-25 10:16:17 +10:00
Peter Barker f67d247a46 Copter: factor pre-arm checks, continue testing after a failure 
The functional change here is that we continue to run later checks
when a check fails.

The user-visible effect of that is that your GCS will tell you about
all pre-arm failures, not just the first.

This makes things work a little more like Plane, in preparation for
using AP_Arming.
 2016-08-16 11:37:18 -03:00
Andrew Tridgell 3041a75798 Copter: limit attitude on landing using WP_NAVALT_MIN 2016-08-16 11:26:56 +10:00
Randy Mackay 0ed5665193 Copter: change parameter order of guided_set_angle 
I thought it might be slightly better to put the optional parameters at the end
No functional change
 2016-08-10 10:03:54 +09:00
Allan Matthew 6dd4e1a2aa Copter: accept yaw rate commands in Guided atttude controller 2016-08-10 10:03:37 +09:00
Randy Mackay 9842840346 Copter: GND_EFFECT_COMP parameter to enable ground effect compensation 2016-08-09 13:31:36 +09:00
Randy Mackay 728e8f8f56 Copter: land_state uses enum 
This resolves a Covarity warning related to initialisation (that was not really a problem) but it is better form anyway
 2016-08-08 13:31:29 +09:00
Francisco Ferreira 43ad1f372d Copter: change function from computing return altitude to computing return target 
Also fix altitude for rally points
 2016-08-06 13:50:53 +09:00
Francisco Ferreira e732cda577 Copter: when calculating RTL return alt use rtl_path directly 
At the same time, fix bug: check return point for terrain and not origin twice
 2016-08-06 13:50:50 +09:00
Randy Mackay c3d71f733c Copter: remove get_takeoff_trigger_throttle 
get_pilot_desired_climbrate can be used instead.
 2016-08-05 12:40:37 +09:00
Randy Mackay d1e257d5b6 Copter: remove unused get_throttle_pre_takeoff 2016-08-05 12:40:37 +09:00
Jonathan Challinger 80f3541933 Copter: add configurable arming delay 2016-08-04 15:19:22 +09:00
Jonathan Challinger 4a6cc75ebb Copter: whitespace change 2016-08-04 15:17:38 +09:00
Randy Mackay 595aea236a Copter: consolidate throw mode state into structure 2016-08-02 20:25:52 +09:00
Randy Mackay 807e930251 Copter: throw uses motor spooling instead of interlock 2016-08-02 20:25:52 +09:00
Randy Mackay f4f13bbe6b Copter: add throw mode logging 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 64ac18da6c Copter: move throw state into structure 
This makes it easier to add more state which is required for the follow throw_nextmode change
 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 49674abb21 Copter: guided mode's velocity controller stops before fence 2016-07-25 20:24:37 +09:00
Randy Mackay dc52f3b2df Copter: guided mode applies acceleration limits to velocity controller 2016-07-25 20:24:37 +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
Randy Mackay 68899ed921 Copter: add adsb to failsafe structure and report in heartbeat to GCS 2016-07-25 20:24:37 +09:00
Andrew Tridgell 387da40fc5 ArduCopter: adjust for 16 channels in SERVO_OUTPUT_RAW 2016-07-25 10:06:02 +10:00
Andrew Tridgell cb5ca713a9 Copter: added AP_Button support 2016-07-22 15:01:20 +10:00
Francisco Ferreira 90a4b36263 Copter: remove pre-arm check for rally points 2016-07-22 09:00:23 +09:00
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
Jonathan Challinger e22220ab62 Copter: refactor landing to reduce duplication, use vertical vel ff 2016-07-12 18:40:25 +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
Randy Mackay 877a144dea Copter: pre-arm check that rally points are within fence 2016-07-04 18:25:03 +09:00
Jonathan Challinger 91a5b26725 Copter: use simplified precland interface 2016-07-04 16:57:06 +09:00
Randy Mackay 543d5701e7 Copter: remove unused log_write_startup 2016-07-04 11:17:16 +09:00
Daniel Ricketts 87be8daf0e Copter: integrate AC_Avoidance library 2016-06-22 11:38:15 +09:00
Leonard Hall e9d8a28ec0 Copter: AP_Motor's throttle_hover replaces throttle_average 2016-06-18 11:55:49 +09:00
Peter Barker e977d85e0c Copter: move telemetry_delayed up into base class 2016-05-31 08:46:09 +10:00
Peter Barker bb19c57615 Copter: subclass GCS_MAVLink in place of defining its functions for it 2016-05-29 16:21:21 +10:00
Randy Mackay cb9ca94dd1 Copter: remove unused pv_location_to_vector_with_default 2016-05-25 16:19:42 +09:00
Randy Mackay 8171532dc5 Copter: allow rangefinder to be disabled from definition 2016-05-21 10:36:53 +09:00
Randy Mackay e489c3184c Copter: rangefinder.enabled false if no range finders are configured 2016-05-21 10:36:53 +09:00
Randy Mackay 59070653cc Copter: provide filtered range finder altitude to AC_WPNav 2016-05-21 10:36:53 +09:00
Randy Mackay 5ac13c0355 Copter: move rangefinder variables into structure 
moved in rangefinder_alt, rangefinder_alt_health and rangefinder_enabled
 2016-05-21 10:36:53 +09:00
Randy Mackay 273b9acad8 Copter: prearm check that RTL_ALT is below rangefinder max alt 
Only applies where terrain following is enabled and a range finder is connected
 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 949d5f7109 Copter: add rangefinder_alt_ok 
Reduces some duplicate code,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
Randy Mackay 028946ae9e Copter: rename CONFIG_SONAR to RANGEFINDER_ENABLE 2016-05-21 10:36:53 +09:00
Randy Mackay e0bf08abe0 Copter: fixes to guided mode target check is within fence 
guided altitude targets are converted to alt-above-home
remove unnecessary fence_status local variable from guided_set_destination methods
log failures to set guided target under a new failure code: ERROR_CODE_DEST_OUTSIDE_FENCE (5)
rename pv_get_home_destination_distance_mc to pv_distance_to_home_cm
 2016-05-21 09:56:12 +09:00
Saloni Jain bc22419286 Copter : Modified set_guided_destination() to reject requests for guided waypoints outside the fence. 2016-05-21 09:56:12 +09:00
Randy Mackay 793e3da904 Copter: rename variables used for NAV_DELAY command 2016-05-19 16:16:03 +09:00
Niti Rohilla 55f66b7696 Copter: Add support for MAV_CMD_NAV_DELAY 2016-05-19 16:16:02 +09:00
Jonathan Challinger c99cac773b Copter: add brake_timeout_to_loiter_ms 2016-05-13 11:42:25 +09:00
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
Lucas De Marchi 352e103f1a ArduCopter: use separate header for version macro 
Having the version macro in the config.h and consequently in the main
vehicle header means that whenever the version changes we need to
compiler the whole vehicle again. This would not be so bad if we weren't
also appending the git hash in the version. In this case, whenever we
commit to the repository we would need to recompile everything.

Move to a separate header that is include only by its users. Then
instead of compiling everything we will compile just a few files.
 2016-05-06 13:11:28 -03:00
Michael du Breuil c97888f524 Copter: Remove support for CONDITION_CHANGE_ALT 2016-04-30 10:56:07 +09:00
Randy Mackay 43d14defd4 Copter: RTL handles terrain data failure 2016-04-30 10:33:01 +09:00
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 ddffbe27aa Copter: add terrain pre-arm check 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
Randy Mackay 267c1c3934 Copter: guided mode handles terrain alt 2016-04-30 10:33:01 +09:00
Randy Mackay e8b14e59fc Copter: spline mission commands handle terrain altitudes 2016-04-30 10:33:01 +09:00
Randy Mackay 81d244c9bd Copter: do-circle accept terrain altitude 2016-04-30 10:33:01 +09:00
Randy Mackay 352b6ae82a Copter: RTL supports terrain altitudes 2016-04-30 10:33:01 +09:00
Randy Mackay 06ee6a7bd4 Copter: auto takeoff accepts abs and terrain alts 2016-04-30 10:33:01 +09:00
Randy Mackay 9449776e3c Copter: straight line waypoints accept terrain 
auto_wp_start calls AC_WPNav's new set_wp_destination which accepts a
Location class allow altitude to be set as above-terrain or even an
absolute altitude
 2016-04-30 10:33:01 +09:00
Randy Mackay 84fd8da944 Copter: current_loc to Location class 2016-04-30 10:33:01 +09:00
Andrew Tridgell 5149a49daa Copter: added logging of dropped log messages in PM message 2016-04-21 17:05:17 +10:00
Jonathan Challinger 2a36c32cf3 Copter: add prev_control_mode and prev_control_reason 2016-04-14 12:24:04 +09:00
Jonathan Challinger 1356deab8b Copter: add control_mode_reason 2016-04-14 12:24:04 +09:00
Jonathan Challinger a0ce8af633 Copter: use enum type for control_mode 2016-04-14 12:24:04 +09:00
Ricardo de Almeida Gonzaga 5bd034a5a8 Global: start using cmath instead of math.h 2016-04-05 21:06:19 -07:00
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 d2a42a7a0e Copter: remove heli_radio_passthrough 
Replaced with set_radio_passthrough which can be used for all frames
 2016-04-01 11:59:30 +09:00
Randy Mackay ce1fb7fb06 Copter: passthrough pilot input to motors to allow wiggling servos 2016-04-01 11:59:30 +09:00
Randy Mackay 3eaf7a4582 Copter: set tradheli rotor speed using 0 to 1 range 2016-04-01 11:59:30 +09:00
Leonard Hall 263052da21 Copter: drift uses 0 to 1 throttle and sets motor spool state 2016-04-01 11:59:30 +09:00
Leonard Hall 74983669be Copter: set_accel_throttle_I_from_pilot_throttle uses 0 to 1 range 2016-04-01 11:59:30 +09:00
Leonard Hall fd2509f6ed Copter: get_pilot_desired_throttle outputs in 0 to 1 range 2016-04-01 11:59:30 +09:00
Andrew Tridgell 31000ac756 Copter: moved Log_Write_Rate() to common code 2016-03-25 12:13:59 +11:00
Lucas De Marchi e88ba38595 ArduCopter: replace header guard with pragma once 2016-03-16 18:40:44 +11:00
Randy Mackay dca89e7fe7 Copter: throw static variables moved to global scope 2016-03-03 12:18:27 +09:00
Randy Mackay 24cfbeebd0 Copter: add throw_exit 2016-03-03 12:18:25 +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
Tom Pittenger 6568402b28 Copter: convert to using static send_statustext 
- no more MSG_STATUSTEXT
- TODO: replace calls to gcs_send_text and gcs_send_text_fmt to GCS_MAVLINK::send_statustext()
 2016-02-24 09:18:06 +11:00
Peter Barker 44c63b8873 Copter: move use of defines after config.h and defines.h 2016-02-19 12:34:23 -02:00
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
Jonathan Challinger 82322144ee Copter: remove unnecessary header file 2016-01-23 09:42:08 +09:00
Randy Mackay 2c5f9422d4 Copter: log event if pilot cancels land 
Also add definition for throttle value that cancels land
 2016-01-14 15:21:57 +09:00
Jonathan Challinger 8965185587 Copter: add "high throttle cancels landing" option 2016-01-14 15:21:54 +09:00
Jonathan Challinger 5cc969f01b Copter: simplify battery and radio failsafe logic 2016-01-12 18:23:01 +09:00
Randy Mackay 89c147184f Copter: log guided mode targets 2016-01-12 18:04:59 +09:00
Jonathan Challinger dcd16696a2 Copter: refactor RTL to compute full path on initialization 2016-01-07 17:22:31 +09:00
bugobliterator 9a976963aa Copter: support AP_AccelCal 2015-12-29 10:46:34 -08:00
Lucas De Marchi e5e8bf3203 ArduCopter: don't link unused AP_Curve library 2015-12-28 10:23:23 -02:00
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
Julien BERAUD f897356fd9 Copter: Optflow constructor update 
AHRS passed as param
 2015-12-18 17:56:06 +11:00
Lucas De Marchi 164b9f345c ArduCopter: remove unused AP_ADC_AnalogSource 2015-12-03 13:32:45 +11:00
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 5cc4f41d85 Copter: Helicopter: to use new Stab_Col and Acro_Col functions. 2015-11-12 19:37:23 +09:00
Robert Lefebvre 34fb600c4f Copter: Utilize Input Manager Class 2015-11-12 19:37:22 +09:00
lvale 549695181c Copter: revised and uniformization of severity messages 2015-11-05 12:20:49 +09:00
Jonathan Challinger 082c1f77fb Copter: soften takeoff 2015-11-04 20:49:22 +09:00
Lucas De Marchi 5244559010 Minimize AP_Progmem.h includes 
Most of AP_Progmem is already gone so we can stop including it in most
of the places. The only places that need it are the ones using
pgm_read_*() APIs.

In some cases the header needed to be added in the .cpp since it was
removed from the .h to reduce scope. In those cases the headers were
also reordered.
 2015-10-30 14:35:32 +09:00
Lucas De Marchi 1b07dabeb7 Replace prog_char and prog_char_t with char 
prog_char and prog_char_t are now the same as char on supported
platforms. So, just change all places that use them and prefer char
instead.

AVR-specific places were not changed.
 2015-10-30 14:35:30 +09:00
Lucas De Marchi 84da1f5039 Rename gcs_send_text_P to gcs_send_text 2015-10-30 14:35:07 +09:00
Caio Marcelo de Oliveira Filho bf6d1afd59 ArduCopter: include SITL only for SITL board 
Include board-specific files only when the board is used. Since these
should be exceptional cases, let the includer handle the ifdef instead
of putting ifdefs in every platform-specific header.

In the future we should evaluate whether the HAL for the board should
instantiate this.
 2015-10-22 13:36:14 -02:00
Caio Marcelo de Oliveira Filho 49a42dc985 SITL: use a SITL namespace 2015-10-22 11:04:42 -02:00
Caio Marcelo de Oliveira Filho 05ae7858e8 Copter: explicitly ask for always using EKF 
When instantiating AP_AHRS_NavEKF for ArduCopter, explicitly pass the
flag to always use the EKF.

The motivation is to move vehicle specifc code out of the general
libraries. This patch shouldn't change behavior.
 2015-10-21 11:01:11 +11:00
Caio Marcelo de Oliveira Filho 3e3f13659d ArduCopter: implement HAL::Callbacks 
Also removes includes for each board since they are not necessary
anymore.
 2015-10-21 09:16:09 +11:00
Randy Mackay e20038a453 Copter: support SET_ATTITUDE_TARGET in guided mode 2015-10-09 12:15:38 +09:00
Andrew Tridgell 1c26ed0fca Copter: fixed deadzone handling for external tail gyro 
when using an external tail gyro on a flybar heli the stick input
should be directly passed to output. This patch fixes the use of
deadzone in that passthrough.

It also makes the tail handling consistent with roll and pitch
handling, by not using ACRO_YAW_P when in tail pass-through.

Finally it also fixes deadzone handling for roll and pitch, and
removes the unnecessary get_pilot_desired_yaw_rate() that has a
different prototype from the one used in the rest of the code
 2015-09-25 12:05:43 +10:00
Randy Mackay cdd4570f02 Copter: fix init order of ekfYawReset_ms 2015-09-24 16:57:50 +09:00
Jonathan Challinger e47175862a Copter: use modified getLastYawResetAngle function 2015-09-24 16:57:44 +09:00
Andrew Tridgell 053194fd51 Copter: added EK2_* parameters and EKF2 instance 2015-09-23 11:56:33 +10:00
Randy Mackay 57c5840f0d Copter: add EKF attitude arming check 2015-09-21 17:06:39 +09:00
Randy Mackay 01c0b20930 Copter: calibrate gyros depending on INS GYR_CAL parameter 2015-09-21 17:06:34 +09:00
Andrew Tridgell d6b244670b Copter: fix for changed AP_RangeFinder API 2015-09-08 16:46:52 +10:00
Leonard Hall 543f6fdcd4 Copter: AltHold limits lean angle to maintain altitude 
get_pilot_desired_lean_angles function now takes angle max parameter but
all flight modes except AltHold simply pass in the ANGLE_MAX parameter
meaning no functional change for them
 2015-09-07 15:10:12 +09:00
Jonathan Challinger 7d67a00aa3 Copter: add compass_cal update function 2015-09-03 16:59:12 +10:00
Peter Barker 51a761656e Copter: DFMessageWriter; ability to trickle messages out to DF 2015-09-03 15:20:19 +10:00
Randy Mackay f4b152f0e3 Copter: add Precision Landing to GPS land 2015-08-31 18:00:31 +09:00
Randy Mackay 0da38ba2bf Copter: add Precision Landing log message 2015-08-31 18:00:30 +09:00
Randy Mackay 26ded641db Copter: integrate Precision Landing lib 2015-08-31 18:00:28 +09:00