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6238 Commits

Author SHA1 Message Date
Peter Barker f2b1387c1c RC_Channel: add AUTOTUNE to init_aux_function routine 
Also, cark it in SITL if we fail to initialise an aux function
 2018-08-05 07:52:28 +10:00
Andrew Tridgell 59cd468444 Copter: fixed RC_Channels parameter docs 2018-08-04 12:28:38 +10:00
Matt 15823d9e97 AP_LANDING_GEAR: Remove deploy lock 
Since the RC switches only respond to changes, there is no longer a need
for this lock state. The gear can be retracted or deployed by RC switch,
flight mode, or mavlink command freely without convoluted unlocking
methods.  Also removed use of this in the associated Copter code.
 2018-08-03 10:59:15 +09:00
Matt fd332287b2 COPTER: Add mavlink landing gear control 
Add MAV_CMD_AIRFRAME_CONFIGURATION (# 2520), which is for landing gear
control.
Param 1 is not used in ArduPilot
Param 2 is deploy/retract. 0 is deploy, 1 is Retract
 2018-08-03 10:59:15 +09:00
Randy Mackay 66525ab0f9 Copter: release notes for 3.6.0-rc7 2018-08-02 13:49:14 +09:00
Randy Mackay f30d999e0b Copter: remove compassmot's compass init and accumulate 
when compass mot is started, the main loop has been running so the compass will already have been initialised and have good readings
Also remove unnecessary call to get_primary compass
 2018-08-02 12:26:14 +09:00
Randy Mackay 6b50a810f6 Copter: compassmot format fixes 2018-08-02 12:26:14 +09:00
Peter Barker b19c03a3c6 Copter: rename switches.cpp to RC_Channel.cpp 2018-08-02 09:52:29 +09:00
Peter Barker e7e56dde7a Copter: move handling of RC switches into RC_Channel 2018-08-01 12:11:30 +09:00
Peter Barker 9b7b480688 Copter: force log-disarmed on crash check triggering 2018-08-01 11:28:52 +09:00
Michael du Breuil 858b51c927 Copter: Update notify initilization 2018-08-01 09:22:09 +10:00
Michael du Breuil 5825222818 Copter: Remove redundant throttle channel setting 2018-08-01 09:19:20 +10:00
Peter Barker 9c72a8ecc7 Copter: simplify autotune's filter value determination 2018-07-31 13:37:43 +09:00
Pierre Kancir 84ff9c6928 Copter: switch to pos control when takeoff finish 2018-07-31 10:40:57 +10:00
Randy Mackay e7bc255e02 Copter: disable Guided_NoGPS on v2 boards to save flash space 2018-07-30 10:14:04 +09:00
Randy Mackay e239ac985d Copter: disable RPM meter on v2 boards to save flash space 2018-07-30 10:14:04 +09:00
Peter Barker 87f8e523de Copter: clarify takeoff comments 2018-07-27 13:08:27 +10:00
Peter Barker 22f7f29045 Copter: move all of waypoint-takeoff into Mode namespace 2018-07-27 13:08:27 +10:00
Peter Barker 11aeec6dd1 Copter: factor out auto_takeoff_run from auto and guided 
This code was identical.
 2018-07-27 13:08:27 +10:00
SergeyBokhantsev ea3de59107 Copter: implement user auxswitch functions 2018-07-26 20:27:49 +09:00
Pierre Kancir 1aeb9446c0 Copter: simplify home distance and bearing calculation 2018-07-26 10:37:25 +09:00
Raouf f78ffefd66 Copter: Handle always land mode 2018-07-26 10:11:12 +09:00
Peter Barker 9e6810933e Copter: don't compile AP_Menu library 2018-07-23 14:20:22 +09:00
Peter Barker f06637d48e Copter: update servorelayevents @50Hz rather than 3Hz 
One of the functions we allow for is toggling the servo at a set
frequency.  3Hz - the old rate - doesn't allow for precise triggering of
the servo.  This patch increases that rate to 50Hz - somewhat better.
 2018-07-20 09:42:58 +09:00
Randy Mackay 7aeeb61f69 Copter: motor test can spin motor for 10min 
A user requested they be able to perform longer term tests of their vehicle's motors
 2018-07-17 19:42:39 +09:00
Randy Mackay b3c28bd934 Copter: minor format fix to motor_test 2018-07-17 19:42:39 +09:00
Michael du Breuil 3755b2ac0f Copter: Remove unused ADC include 2018-07-17 09:29:50 +10:00
Randy Mackay 86b85c569a Copter: release notes for 3.6.0-rc6 2018-07-16 10:49:38 +09:00
Randy Mackay 81bb2218f1 Copter: 3.5.7 release notes 2018-07-16 10:49:25 +09:00
Randy Mackay 1333fac887 Copter: 3.5.7-rc1 release notes 2018-07-12 14:56:00 +09:00
Randy Mackay f543ca552c Copter: 3.6.0-rc5 release notes 2018-07-11 15:58:12 +09:00
Randy Mackay 821aa3bece Copter: 3.5.6 release notes 2018-07-11 12:12:30 +09:00
Lauri Juusela a3587f844c Copter: RTL if not in AUTO mode and FS_THR_ENABLED_CONTINUE_MISSION enabled 2018-07-10 08:41:58 +09:00
Randy Mackay b5b9ff8dbc Copter: 3.5.6-rc1 release notes 2018-07-07 11:40:02 +09:00
Peter Barker 819d892baf Copter: handle MAV_CMD_ACCELCAL_VEHICLE_POS in GCS base class 2018-07-06 09:43:09 +10:00
Peter Barker 7fc580921a Copter: handle command_long in GCS base class 2018-07-06 09:43:09 +10:00
Peter Barker aa4ee64af2 Copter: handle command_int in base class 2018-07-06 09:43:09 +10:00
liang.tang 57598e5b9f ArduCopter：mode_guided: yaw initialization already in pos_control_start() 2018-07-05 15:48:00 +01:00
Randy Mackay 8a96ee4e1d Copter: 3.6.0-rc4 release notes 2018-07-05 14:36:46 +09:00
chobits 6f2814d70c Copter: clarify RTL_ALT parameter description 2018-07-05 10:30:07 +09:00
Peter Barker c2f9b857a4 Copter: remove unused baro_climbrate variable 2018-07-04 21:08:47 +01:00
Peter Barker 8bc96a2e13 Copter: use compass singleton for logging 2018-07-04 20:11:27 +01:00
Andrew Tridgell 3e08132828 Copter: CH_12 can be used with any HAL, not just HAL_PX4 2018-07-04 20:05:10 +01:00
Luis Vale Gonçalves dc154f0b24 Copter: minor fix to 3.6.0-rc3 release notes 
Clarification of the boards tested from partner CUAV
 2018-07-03 21:14:55 +09:00
Peter Barker df83cb034e Copter: use ArmingMethod enumeration 2018-07-03 15:16:38 +10:00
Peter Barker a1f29e92d1 Copter: use singletons in AP_Arming 2018-07-03 13:44:11 +10:00
Peter Barker c84b102c1c Copter: move mavlink reboot code up to base class 2018-07-03 12:12:25 +10:00
Peter Barker 7785a962dc Copter: fix inconsistent setting of AP_Notify::flags.pre_arm_gps_check 2018-07-03 09:34:43 +10:00
Luis Vale Gonçalves 6194413829 Copter: clarify PILOT_THR_BHV param desc 2018-07-03 08:24:46 +09:00
Alexander Malishev 7bfeeb5877 Copter: fixed board name in release notes 2018-07-03 08:11:39 +09:00
Jacob Walser 64577bfbe1 Copter: refactor output_test -> output_test_seq 2018-07-02 11:31:58 -04:00
Randy Mackay 4061ed03d9 Copter: 3.6.0-rc3 release notes 2018-07-02 18:34:35 +09:00
Peter Barker f4be542169 Copter: autotune: raise priorities of autotune success and param saved 
Closes #8734
 2018-06-30 11:40:39 +09:00
Lucas De Marchi 1a45aa12f5 AP_Param: warn on last pass only about unknown parameters 
Do not warn about unknown parameters on the first pass, i.e. when
AP_Param:load_all() is called. This is because we may still not know
about dynamically loaded parameters. When we call the second (last)
time, we expect to already know all possible parameters, so print a
warning to both console and the debug terminal.
 2018-06-28 10:18:19 -07:00
Lucas De Marchi 7f0d5ddf21 AP_Param: stop panic()'ing on unknown parameters 
Our track record on keeping parameters up to date with master is not
great and panic()'ing when loading them apparently is not helping
because every and each vehicle has a different file.

On aerofc load_defaults_file() is used in the same way as
load_embedded_param_defaults() is in which the panic() behavior has been
previously removed.

This finishes the removal of the panic param and add warnings to the
debug console when reading the parameters (rather than when counting
them).
 2018-06-28 10:18:19 -07:00
Peter Barker 81b731b214 Copter: move copter-specific AP_Arming code into Copter subclass 2018-06-28 12:48:31 +10:00
Andrew Tridgell 20dea6df45 Copter: moved OSD to top level params 
this gives us plenty of param depth for a complex param tree
 2018-06-27 14:55:00 +10:00
Alexander Malishev f63b3c044a Copter: added OSD support 2018-06-27 14:55:00 +10:00
Peter Barker 724f34c7e7 Copter: use MAV_SYS_STATUS_SENSOR_PROXIMITY for proximity sensor 
Copter: correct laser sensor health bits
 2018-06-26 10:25:28 +10:00
Peter Barker a7a6cfa99f Copter: correct comment 2018-06-26 10:25:28 +10:00
Peter Barker ff17c78c67 Copter: create Copter::Mode::_TakeOff subobject from takeoff_state 2018-06-26 09:11:21 +09:00
Peter Barker 7883582c65 Copter: move takeoff state into Mode class 2018-06-26 09:11:21 +09:00
Peter Barker 597e876953 Copter: clean up do_user_takeoff 2018-06-26 09:11:21 +09:00
Peter Barker cff1969a29 Copter: make do_user_takeoff a member of Mode 2018-06-26 09:11:21 +09:00
Peter Barker cb26ff64b3 Copter: current_mode_has_user_takeoff -> Mode::has_user_takeoff 2018-06-26 09:11:21 +09:00
Peter Barker 70d159cb38 Copter: raise EKF failure even if USB is connected 
This will let EKF go bad if your PixHawk is connected to your laptop.
This doesn't seem to be a problem for the other vehicles.

This also allows the EKF to go bad in-flight if you happen to have
connected (against AP's recommendations) your companion computer to your
flight controller via USB.  Since people do this, it is better to have
the checks than not.
 2018-06-26 10:07:55 +10:00
Pierre Kancir 2d5cbd2cf8 ArduCopter: report crosstrack_error 2018-06-26 08:42:14 +09:00
Peter Barker 291102360a Copter: use check_failed function 2018-06-23 15:33:19 +10:00
Andrew Tridgell b43316d743 Copter: added ESC_TELEMETRY to mavlink streams 2018-06-21 10:48:02 +10:00
Peter Barker ca8a1ae488 Copter: use magic force arm/disarm definitions 2018-06-20 11:43:38 +10:00
Peter Barker fd9ce90b8e Copter: option to force arm, bypassing checks 2018-06-20 11:43:38 +10:00
Peter Barker 4d6408857f Copter: return appropriate response to failed disarm 2018-06-20 11:43:38 +10:00
Peter Barker 485cafb343 Copter: use AP_FWVersion singleton 2018-06-18 19:10:37 +01:00
murata a970eacf49 Copter: Do not use the Delay method wrapper. 2018-06-16 09:40:47 +09:00
Peter Barker 078d90132c Copter: use AP_RTC 
Co-authored-by: patrickelectric@gmail.com

Copter: AP_GPS now sets the system time directly

Copter: use AP_RTC for mission delays

Copter: Remove ap_t bits counter (Patrick José Pereira)

Change bits in ap_t to bool and add a static assert
 2018-06-15 08:01:22 +10:00
Randy Mackay 2af8e673cc Copter: add cork-push to esc calibration 
Also remove unnecessary duplicate call to motors::set_throttle_passthrough_for_esc_calibration
 2018-06-13 13:20:08 +09:00
Randy Mackay 41767e0458 Copter: esc calibration fix 2018-06-13 13:20:08 +09:00
Peter Barker 955baa47c2 Copter: move handling of MAV_CMD_DO_GRIPPER up 2018-06-11 19:07:39 +01:00
apinxiko e440583a7c Copter: Beeping when first reaching waypoint while in holding there 2018-06-11 16:45:48 +09:00
apinxiko 5df4b9f6fd Beeping when first reaching waypoint even while in holding there 2018-06-11 16:45:48 +09:00
chobits 75c2a2b02a Copter: check for fence breaches when disarmed 2018-06-11 11:41:10 +09:00
bnsgeyer b4d2406062 Copter: Tradheli - fixes collective jump on rotor shutdown in althold and loiter 2018-06-11 08:39:27 +09:00
Randy Mackay a97e37be9f Copter: 3.6.0-rc2 release notes 2018-06-06 12:02:40 +09:00
Peter Barker 4e3bbe9311 Copter: move sanity check for rangefinder alt to within protected func 
get_surface_tracking_climb_rate can do an additional check....
 2018-06-06 08:33:56 +09:00
Peter Barker ab68e4fe8b Copter: log quiet-nan for rangefinder-desired-alt when not using it 2018-06-06 08:33:56 +09:00
Pierre Kancir b95fe2b8b1 Copter: rename SPRAYER-enabled-define to SPRAYER_ENABLED 2018-06-05 12:08:17 +09:00
Michael du Breuil 6c94811e00 Copter: Update to support new RC override conventions 2018-06-05 09:51:09 +10:00
Peter Barker 6d9a131a26 Copter: make VFR_HUD always return height above MSL 2018-06-05 09:38:20 +10:00
Michael du Breuil 749e0acd10 Copter: Remove software type param 2018-06-05 09:14:12 +10:00
Peter Barker 7015d42ab2 Copter: Location gets ahrs from singleton 2018-06-01 16:18:33 +01:00
Peter Barker 78d2c52a3f Copter: move try_send_message handling of EKF_STATUS_REPORT up 2018-06-01 16:12:45 +01:00
Peter Barker e3ddf7dadd Copter: rename SPRAYER-enabled-define to SPRAYER_ENABLED 2018-06-01 15:13:05 +09:00
Peter Barker 4b4e66e2bd Copter: correct comment about mode change 2018-06-01 15:01:46 +09:00
Peter Barker db60e93716 Copter: correct comment on deprecated switch option 2018-06-01 15:01:46 +09:00
Andrew Tridgell b8d47f346e Copter: fixed interlock check on helis 
the motors check is always false when disarmed, so can't be used for
arming check
 2018-06-01 10:14:20 +09:00
Randy Mackay 25961b6d13 Copter: flip mode format fix 2018-05-31 15:21:50 +09:00
Randy Mackay 0ba105f649 Copter: minor format fix to guided 
no need to specify copter
non-functional change
 2018-05-31 15:21:42 +09:00
Peter Barker c09ccf5b61 Copter: split home-set and home-locked state 2018-05-29 14:38:45 +10:00
Peter Barker 7c98082389 Copter: create persist_streamrates() callback to indicate persistence 2018-05-29 13:08:29 +10:00
Peter Barker 5f2221fe74 Copter: move handling of VFR_HUD into GCS_MAVLink_Copter 2018-05-29 13:00:40 +10:00
Andrew Tridgell 2425c65e74 Copter: implement 'air-mode' for copter 
this implements what betaflight calls 'air-mode'. This gives attitude
control when throttle is at zero, allowing for zero-throttle maneuvers,
plus keeping the copter level on the ground.

This was already implemented if an interlock switch was setup, but it
should also work with an arming switch. If using an arming switch then
throttle should not be considered zero as long as the arming switch
hasn't gone low.
 2018-05-29 10:27:14 +09:00
Andrew Tridgell 0d56526400 Copter: added de-bouncing of aux switches 
this prevents a crash with a switch such as arm/disarm getting a
single frame RC glitch
 2018-05-29 08:26:46 +09:00
apinxiko a1fd1cb9b2 Copter: avoid keeping buzzing while in holding at waypoint 2018-05-25 14:02:13 +09:00
Randy Mackay 25475b65d9 Copter: proximity sensor reports laser unhealthy when no data 2018-05-24 12:46:38 +09:00
Peter Barker 81e9edd80a Copter: move sending of sim state up 2018-05-23 18:36:50 +10:00
Peter Barker ec1539f9c8 Copter: add type-correctness for stream messages 2018-05-22 11:21:25 +10:00
Peter Barker de7a8e20e2 Copter: eliminate MSG_LIMITS_STATUS 2018-05-22 09:05:14 +09:00
Pierre Kancir aa8a90271e ArduCopter : HAL_RCINPUT_WITH_AP_RADIO definition 2018-05-22 08:35:01 +09:00
bnsgeyer 86440b20ba Copter: Tradheli - disables inverted flight option for single and dual heli frames 2018-05-22 08:35:03 +10:00
Peter Barker 50ca76b6bd Copter: move try_send_message of servo-output-raw up 2018-05-21 19:08:08 +01:00
Peter Barker 7c8583d51d Copter: implement sending of position_target_global_int 2018-05-18 20:26:37 +10:00
Peter Barker 33582107b6 Copter: move sending of GLOBAL_POSITION_INT up to GCS_MAVLINK 2018-05-17 15:48:06 +01:00
Peter Barker 1437eb008d Copter: remove arguments to send_home and send_ekf_origin 2018-05-17 20:42:36 +10:00
Peter Barker da1b2579c4 Copter: move send_attitude up to GCS_MAVLINK 2018-05-17 18:28:43 +10:00
Peter Barker e4a2b03488 Copter: move try_send_message sending of scaled_pressure up 2018-05-17 15:37:14 +10:00
Peter Barker 88883c7c7f Copter: move try_send_message sending of sensor offsets up 2018-05-17 15:37:14 +10:00
Peter Barker 93f1815d50 Copter: move try_send_message of RAW_IMU up to GCS_MAVLINK 2018-05-17 15:37:14 +10:00
Peter Barker 9dce133938 Copter: handle setting of ekf origin in GCS_MAVLink 2018-05-17 10:13:42 +10:00
Peter Barker 0dc0e54767 Copter: move Log_Write_Home_And_Origin into AP_AHRS 2018-05-17 10:13:42 +10:00
Michael du Breuil 296296ab6c Copter: Use named float wrapper 2018-05-17 00:59:45 +01:00
Michael du Breuil 1c6031e5e5 Copter: AP_Proximity is now a common library 2018-05-16 23:21:41 +01:00
Michael du Breuil fe8e1b4274 Copter: Move MAVLink rangefinder up to parent 2018-05-16 23:21:41 +01:00
Michael du Breuil 033a8ec4d5 Copter: Send all distance sensors 2018-05-16 23:21:41 +01:00
Peter Barker 23a0e10d01 Copter: add sanity check for ModeFollow requiring AC_Avoid 
Copter: correct compilation when logging disabled

Copter: correct compilation when mount disabled
 2018-05-10 17:55:13 +09:00
Randy Mackay 6f138ddcfa Copter: ekf failsafe first enforces landing with no GPS 
thanks to khancyr for spotting this
 2018-05-10 08:59:37 +09:00
Leonard Hall 656892cd88 Copter: ekf failsafe disabled for acro and stabilize 
Also restructure to combine ekf_over_threshold and ekf_check_position_problem
 2018-05-10 08:59:37 +09:00
Peter Barker ec6fb0c612 Copter: move sending of battery data up 2018-05-09 11:40:31 -07:00
Peter Barker e90ce4ced9 Copter: move data stream send up 2018-05-09 16:15:38 +10:00
Peter Barker dee40f3fe5 Copter: make scheduler track whether it has called the delay callback 2018-05-09 16:15:38 +10:00
Peter Barker b561e8b7e9 Copter: AP_RSSI is included in build for all vehicles 2018-05-08 12:33:32 +01:00
Peter Barker 6dd9f50f7c Copter: move try_send_message handling of RC_CHANNELS up 2018-05-08 12:33:32 +01:00
Peter Barker 75ad33ddcd Copter: move try_send_message of heartbeats up to GCS_MAVLINK 2018-05-07 11:30:13 -06:00
Peter Barker d7af5c0c44 Copter: move try_send_message handling of VIBRATION up 2018-05-07 11:23:28 -06:00
Peter Barker dc61884303 Copter: remove rcmap member from AP_AdvancedFailsafe 2018-05-05 18:06:31 +09:00
Sarthak Bhagat 0bd21b0b3f Copter: SmartRTL add pilot yaw control 2018-04-30 13:15:44 +09:00
Dr.-Ing. Amilcar do Carmo Lucas c8d1dad493 Copter: document stream content 2018-04-27 19:54:00 +09:00
Randy Mackay c85bae8d88 Copter: correct dodeca-hexa copter mav-type 2018-04-27 14:57:00 +09:00
Andrew Tridgell 963f86b7bf Copter: remove old pde file 
this was here for upgrading very old MissionPlanner versions. We can
remove it now
 2018-04-26 14:25:01 +10:00
Michael du Breuil 91a48a5040 Copter: Support new RC_Channels::read_input() 2018-04-26 08:00:09 +10:00
night-ghost 51a189e906 ArduCopter: devo telemetry support (RX705/707) 2018-04-24 10:44:28 +10:00
Randy Mackay 2fff9561a7 Copter: 3.6.0-rc1 release notes 2018-04-21 09:22:42 +09:00
Pierre Kancir 3be6c0e26b ArduCopter : clean unused definitions 2018-04-20 15:26:47 +01:00
Peter Barker 4b5953734d Copter: use AP_ServoRelayEvents singleton 2018-04-18 20:31:55 +09:00
Peter Barker 04885b127c Copter: GPS now logs its own data 2018-04-18 13:50:55 +09:00
Peter Barker 8648db06b4 Copter: create autoyaw.cpp from all the bits of Copter::Mode::AutoYaw 2018-04-18 13:27:43 +09:00
Peter Barker 948b90ed97 Copter: rename roi_WP to just roi 
A Vector3f is not a waypoint.

This should really be "Point Of Interest" rather than "Region Of
Interest"
 2018-04-18 13:27:43 +09:00
Peter Barker ba8b3e2415 Copter: create an AutoYaw helper object to hold auto-yaw state 2018-04-18 13:27:43 +09:00
Pierre Kancir 1f30ae3076 ArduCopter: fix float to double warning 2018-04-18 10:27:10 +09:00
Pierre Kancir 70805d61f2 ArduCopter: remove inertial_nav from precland constructor 2018-04-17 17:21:35 +09:00
Peter Barker 80549a479e Copter: move throw logging into ModeThrow 2018-04-17 17:16:52 +09:00
Peter Barker c95ff96263 Copter: Baro does its own dataflash logging 2018-04-12 19:12:12 +01:00
Randy Mackay a38507623d Copter: autotune minor comment fix 2018-04-12 20:51:37 +09:00
Randy Mackay 1b38a377ff Copter: autotune replace 1 with true 2018-04-12 20:51:37 +09:00
Leonard Hall 7204d46ccb Copter: Autotune - Fix low angle P issue 2018-04-12 20:51:37 +09:00
Peter Barker d9ab8d6569 Copter: sprayer now uses ahrs singleton; stop passing reference 2018-04-12 14:23:33 +09:00
Michael du Breuil d96919ed21 Copter: Use RC_Channels instead of hal.rcin 2018-04-11 21:47:07 +01:00
Randy Mackay 2817cc61f3 Copter: add heliquad to frame-class param description 2018-04-11 19:35:06 +09:00
Randy Mackay bf6e1993a1 Copter: resolve compiler warning re temp_calibration init order 2018-04-11 11:31:17 +09:00
Pierre Kancir 9e298b3b2f Copter: sprayer uses ahrs in constructor 2018-04-11 09:41:33 +09:00
Michael du Breuil adb7ecef92 Copter: Check MANUAL_CONTROL target 2018-04-10 16:54:34 +01:00
Randy Mackay 13b8ad0e94 Copter: remove sport from pixhawk v2 builds 
this mode is almost never used
 2018-04-09 09:10:01 +09:00
Andrew Tridgell 9c040105d6 waf: split copter and heli builds 
this makes things less confusing for users
 2018-04-08 21:26:16 +10:00
Peter Barker d219540554 Copter: correct compilation when AFS is enabled 2018-04-07 09:46:54 +09:00
Peter Barker d0425c7b2f Copter: correct compilation when precland is disabled 
Closes #8098
 2018-04-07 09:44:43 +09:00
Andrew Tridgell 1ffe75957e Copter: fixed ESC calibration for DShot 2018-04-07 09:10:29 +10:00
Leonard Hall 5c1d895f82 Copter: autotune announce only while tuning 2018-04-06 14:48:28 +09:00
Leonard Hall 83fac326a4 Copter: autotune check for vel overshoot in angle P 
this change reduces the chance of over tuned angle P
 2018-04-06 14:48:28 +09:00
Peter Barker 975ad608eb Copter: honour defines for optional feature's log messages 2018-04-05 17:37:02 +09:00
Peter Barker 893b761533 Copter: correct terrain-alt logging 
Also change to using an out-of-band value upon no-terrain-alt-available
 2018-04-05 12:30:05 +09:00
Peter Barker 2d31a7b318 Copter: remove check for enabled in for Log_Write_Beacon 
The DataFlash library does this now
 2018-04-04 16:20:33 +09:00
Randy Mackay 59e4749fd0 Copter: integrate AC_Loiter 
includes param conversion
 2018-04-04 10:45:10 +09:00
Randy Mackay 5f2f446199 Copter: add AC_Loiter to make build 2018-04-04 10:45:10 +09:00
Randy Mackay acfc3a606a Copter: circle mode uses AC_Circle get_distance_to_target 2018-04-04 10:45:10 +09:00
Francisco Ferreira 8ff74f31e9
Copter: fix method shadowing 2018-04-03 16:29:33 +01:00
Peter Barker 0c8110ecb2 Copter: factor vehicle's mavlink send_heartbeat 2018-04-03 13:05:19 +01:00
Peter Barker d58e2214d2 Copter: tidy handling of barometer calibrations 2018-04-02 23:25:05 +01:00
Peter Barker cca4d5136e Copter: move common calibration functions up 2018-04-02 23:25:05 +01:00
Peter Barker c80714b820 Copter: factor out preflight calibration function 2018-04-02 23:25:05 +01:00
Peter Barker ebebb3b107 Copter: use ahrs singleton for AP_Follow and SmartRTL 2018-04-02 17:16:02 +01:00
Randy Mackay b3cb491bb1 Copter: minor format fix to mode_land 2018-03-31 14:19:13 +09:00
Dr.-Ing. Amilcar do Carmo Lucas d633ba8c46 Copter: Add option to disable RPM module 2018-03-30 09:36:48 +09:00
Ebin 914f3385a4 ArduCopter: Moved land control fn definitions to mode.cpp (NFC) 2018-03-29 16:54:54 +01:00
Ebin 1ff4019ddf ArduCopter: moved landing control fns from Copter to Mode 
land_run_horizontal_control(),land_run_vertical_control(),get_alt_above_ground() moved to Mode
 2018-03-29 16:50:00 +01:00
Randy Mackay cbd2756467 Copter: loiter loses redundant z-axis init 2018-03-29 08:26:42 +09:00
Leonard Hall a3a1601837 Copter: althold remove redundant z-axis init 2018-03-29 08:26:42 +09:00
Leonard Hall 8ff8364252 Copter: remove redundant takeoff_stop from flowhold 2018-03-29 08:26:42 +09:00
Peter Barker ce0f0938ee Copter: make superclass handle command_ack packets 2018-03-28 09:28:23 +09:00
Michael du Breuil 291531e056 Copter: Support new battery failsafes 2018-03-27 22:12:21 +01:00
priseborough 4b00f399b4 Copter: Clarify definition for gps_glitching flag 2018-03-27 20:28:55 +09:00
Peter Barker f8d5fe96d8 Copter: allow DataFlash to handle log sending 2018-03-26 09:22:47 +09:00
Bruno Camba 7b50517232 Copter: Moved commands_logic to mode_auto 
Moved methods from commands_logic.cpp to
the mode_auto.cpp. Method order is
the same as declared in mode.h
 2018-03-23 10:07:12 +09:00
Dr.-Ing. Amilcar do Carmo Lucas 580143d404 Copter: Add whitespaces to increase readability and consistency (NFC) 2018-03-23 09:34:11 +09:00
Dr.-Ing. Amilcar do Carmo Lucas 58480435bb Copter: Add missing parameter units (NFC) 2018-03-23 09:34:11 +09:00
Peter Barker 41960704b0 Copter: move handling of visual odometry messages up 2018-03-23 09:28:07 +09:00
Dr.-Ing. Amilcar do Carmo Lucas 4f0cf6d334 Copter: Parameter ACRO_THR_MID is only used in ACRO flight mode 2018-03-23 09:14:23 +09:00
Pierre Kancir 9c23aa5ec3 ArduCopter: fix FALLTHROUGH 2018-03-21 08:24:56 +09:00
apinxiko 032ad9a67b Copter: avoid hard stop in missions 2018-03-20 10:30:38 +09:00
kozinalexey 8b5f5a5fa0 Copter: fix camera relay trigger 
camera.update() for automatic shots always called from
void Copter::update_GPS(void), after gps read
copter specific bug
 2018-03-20 10:13:49 +09:00
Dr.-Ing. Amilcar do Carmo Lucas 5f9879fae1 Copter: remove more parameters when ACRO is disabled 2018-03-20 08:13:06 +09:00
Dr.-Ing. Amilcar do Carmo Lucas d78c2a1015 Copter: Fix copy-paste error in toy_mode 2018-03-20 08:13:06 +09:00
night-ghost a1797beb41 Copter: removed 1ms delay on startup 
handled by GCS library now, not needed here
 2018-03-20 10:08:20 +11:00
Dr.-Ing. Amilcar do Carmo Lucas 8e143aa637 Copter: Do not switch into a disabled flight mode 2018-03-19 15:06:41 +00:00
Ebin d8f56b3511 ArduCopter: changed signature for get_pilot_desired_lean_angles() 
Removes first two redundant input parameters, makes fn non static, makes fn const
 2018-03-19 17:51:39 +09:00
Peter Barker edcfa7ffd4 Copter: move handling of get_home_position up 2018-03-19 10:32:37 +09:00
Peter Barker 45f2312bfe Copter: move home state into AP_AHRS 2018-03-19 10:32:37 +09:00
Peter Barker 52882d11fa Copter: AP_TempCalibration does not take reference to ins 2018-03-16 00:37:35 -07:00
Peter Barker 2749ee9060 Copter: use ins singleton 2018-03-16 00:37:35 -07:00
Randy Mackay feecbe442f Copter: use multiply instead of divide in param conversion 2018-03-16 13:50:57 +09:00
Randy Mackay d7ea8f073f Copter: run guided velocity control at main loop rate 2018-03-16 13:50:57 +09:00
Randy Mackay 4a74b1b5e5 Copter: replace NTUN with PSC logging 2018-03-16 13:50:57 +09:00
Randy Mackay 0392d2752d Copter: tuning rc-feel uses multiply instead of divide 2018-03-16 13:50:57 +09:00
Randy Mackay 1035645f5c Copter: poshold always resets loiter I term 2018-03-16 13:50:57 +09:00
Leonard Hall a727305a59 Copter: integrate attitude control EKF inertial-frame-reset 2018-03-16 13:50:57 +09:00
Randy Mackay f368ff6664 Copter: parameter conversion from RC_FEEL_RP to ATC_INPUT_TC 2018-03-16 13:50:57 +09:00
Leonard Hall 8ac653cabf Copter: AutoTune integrate renamed use_sqrt_controller 2018-03-16 13:50:57 +09:00
Randy Mackay 853d7ab573 Copter: remove setting of pos-con jerk 2018-03-16 13:50:57 +09:00
Leonard Hall 7511781a7e Copter: add accel target to NTUN log msg 
Also rename NTUN column headers from D (meaning Desired) to T (meaning Target)
 2018-03-16 13:50:57 +09:00
Leonard Hall f9acc8a666 Copter: guided removes xy mode in calls to pos-con 
Also limit angle to hold altitude
 2018-03-16 13:50:57 +09:00
Randy Mackay 1a0be015f9 Copter: land, loiter, rtl provide dt to AC_WPNav::set_pilot_desired_acceleration 
Also fix accelerations/lean-angles for land and rtl-land
 2018-03-16 13:50:57 +09:00
Leonard Hall 93de23e7c4 Copter: get-pilot-desired-lean-angles accepts another angle-max 2018-03-16 13:50:57 +09:00
Leonard Hall 1540f98888 Copter: add angle inputs to Loiter 2018-03-16 13:50:57 +09:00
Leonard Hall 9544b1763b Copter: replace smoothing gain with AC_AttitudeControl::set_input_tc 2018-03-16 13:50:57 +09:00
Ebin 185f41d5bd Copter arm_checks(): PreArm in error msg changed to Arm 2018-03-16 09:49:54 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 7df1419579 Copter: add missing MAGNETOMETER and STATS_ENABLED build defines 2018-03-15 15:03:22 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas 115ed491c0 Copter: Obey RANGEFINDER_ENABLED, AUTOTUNE_ENABLED and AC_TERRAIN build macros 2018-03-15 15:03:22 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas 5b7116bbbd Copter: Fix else formating (NFC) 
git history on these lines is not important, this is a simple else
 2018-03-15 07:51:26 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas db90ee6841 Copter: Remove RTL_ parameters if RTL flight mode is disabled 2018-03-15 07:38:50 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 21c33b60db Copter: Remove DRIFT mode code if DRIFT mode is disabled. 2018-03-15 07:38:14 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas ed36ec3c29 Copter: add option to disable THROW mode 2018-03-15 07:38:14 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas b27c00dc5f Copter: add option to disable ACRO mode 2018-03-15 07:38:14 +09:00
Randy Mackay 20ac17cda8 Copter: remove adsb beacon nav-guided and visodom from min features 2018-03-14 20:41:47 +09:00
Ebin b8a307cdd0 Copter: Changed log message IDs to enum 
Changes log message IDs to enum, removes values in LoggingParameters enum
and removes deprecated params in LogParameters.
 2018-03-14 09:33:39 +09:00
Randy Mackay af207caa1f Copter: move get_pilot_desired_lean_angles higher in cpp 
this makes the definition in the .h and implementation in .cpp files appear in the same order
 2018-03-14 09:33:39 +09:00
Ebin 20995b909f Copter: Moved get_pilot_desired_lean_angles to mode.cpp 2018-03-14 09:33:39 +09:00
Andrew Tridgell 62522a4e1d Copter: fixed docs for Follow mode number 2018-03-13 07:53:16 +09:00
Peter Barker d88bd52a53 Copter: use baro singleton 2018-03-08 21:20:05 -08:00
Peter Barker 9f05556801 Copter: delete correct assignment operator 2018-03-08 21:20:05 -08:00
Peter Barker 9bffeb4117 Copter: use AHRS singleton in GCS_MAVLink 2018-03-07 12:34:39 +00:00
Peter Barker bc4f021516 Copter: use AP::ahrs() for ADSB 2018-03-07 12:34:39 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas 35a4748c06 Copter: follow mode renames and comment improvements 2018-03-06 09:50:16 +09:00
Peter Barker af56826107 Copter: follow mode fixups 
add follow to FLTMODEx param descriptions
remove follow's set_velocity method
10hz logging of desired velocity in follow mode
follow mode uses pos error P gain
add send-debug-via-mavlink option
don't enter follow if follow lib is disabled
follow debug slowed to 1hz
disable follow on min-features builds
 2018-03-05 15:08:08 +09:00
Randy Mackay 6ee101ca98 Copter: rename chase to follow 2018-03-05 15:08:08 +09:00
Randy Mackay 053983eb70 Copter: integrate AP_Follow into chase mode 2018-03-05 15:08:08 +09:00
Peter Barker 199455dc56 Copter: add chase mode 2018-03-05 15:08:08 +09:00
Randy Mackay 0840f0e8ae Copter: add AP_Follow to build 2018-03-05 15:08:08 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas bc86ca0e3c Copter: simplify Log_Write_Proximity 2018-03-03 17:13:34 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas b0f22833f6 Copter: Add GRIPPER_ENABLED macro to user config file 2018-03-03 17:13:24 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas c1246c59e0 Copter: disable scheduler tasks for optional features 2018-03-03 17:10:34 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas bbd1aa1cab Copter: Improve interoperation of AC_AVOID_ENABLED and BEACON_ENABLED 2018-03-03 17:10:26 +00:00
Pierre Kancir 50c3ed1460 Copter : allow rc_override input at start 
found by chobitsfan
 2018-03-02 16:23:11 +00:00
Andrew Tridgell cf00bd99ea Copter: enanle RC override by default 2018-03-02 12:52:50 +11:00
Andrew Tridgell 30572692c4 Copter: added ALLOW_ARM_NO_COMPASS 
for skyviper-f412
 2018-03-02 12:52:50 +11:00
night-ghost adcc309f15 Copter: allow AP_Stats to be optional 2018-03-02 07:23:35 +11:00
murata c0954b557e Copter: move BCN param desc within define 
non-functional change to make the formatting consistent
 2018-02-28 13:17:40 +09:00
Peter Barker 398d0d1f37 Copter: do not allow toy mode on Helicopters 2018-02-27 14:22:32 +09:00
Peter Barker b8e1f03599 Copter: add define for disabling beacon 2018-02-27 07:43:13 +09:00
Peter Barker 0e68ce2ad8 Copter: correct #error prerequisites 2018-02-27 07:43:13 +09:00
Peter Barker 5b355214fd Copter: add option to disable CIRCLE flight mode 
Saves about 2.4kB of flash
 2018-02-27 07:43:13 +09:00
Peter Barker e4898e1d60 Copter: add option to disable GUIDED_NOGPS flight mode 
Saves about 6.3kB of flash
 2018-02-27 07:43:13 +09:00
Peter Barker 86b162e32f Copter: add option to disable BRAKE flight mode 2018-02-27 07:43:13 +09:00
Peter Barker a7fe242e31 Copter: add option to disable RTL flight mode 2018-02-27 07:43:13 +09:00
Peter Barker b8c432b1a1 Copter: add option to disable GUIDED flight mode 
Saves about 6kB of flash
 2018-02-27 07:43:13 +09:00
Peter Barker 0ddeb56a05 Copter: add option to disable DRIFT flight mode 
Saves about 1kB of space
 2018-02-27 07:43:13 +09:00
Peter Barker e5056f8d40 Copter: add option to disable SPORT flight mode 
Saves about 1,500 bytes
 2018-02-27 07:43:13 +09:00
Peter Barker 7154f4dea4 Copter: add option to disable LOITER mode 2018-02-27 07:43:13 +09:00
Peter Barker 9b440d6b25 Copter: add option to disable SmartRTL mode 
Saves 5.5k of Flash
 2018-02-27 07:43:13 +09:00
Peter Barker 3a61b86e65 Copter: add option to disable POSHOLD mode 
Saves about 4k of Flash
 2018-02-27 07:43:13 +09:00
Peter Barker b9ad2bc8db Copter: add option to disable AUTO mode 
Saves ~12k of flash
 2018-02-27 07:43:13 +09:00
Peter Barker eb9bbddcb7 Copter: add in_guided_mode mode callback 2018-02-27 07:43:13 +09:00
Peter Barker e66034f183 Copter: allow fence to be disabled while AFS is enabled 2018-02-27 07:43:13 +09:00
Peter Barker bb9af3b79d Copter: autotune: correct compilation when logging disabled 2018-02-27 07:43:13 +09:00
Peter Barker 9cffa13f7b Copter: correct mav result for compass motor calibration on heli 2018-02-24 00:27:41 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas b24e5c3991 Copter: Obey MOUNT == DISABLED 2018-02-22 20:58:51 +10:00
Peter Barker 846506230d Copter: remove pointless initialisations 
Also reduce storage size of gps primary
 2018-02-22 17:51:35 +10:00
Peter Barker 1a68979050 Copter: correct nullptr check for circle nav allocation 2018-02-22 16:14:50 +10:00
Peter Barker dc5ef168fd Copter: toymode: correct compilation with fence is disabled 2018-02-22 10:26:37 +10:00
Peter Barker 25665c5dd9 Copter: correct definition of unused variable when precision landing disabled 2018-02-22 10:26:37 +10:00
Peter Barker 06da2f50ce Copter: correct compilation when logging is disabled 2018-02-22 10:25:39 +10:00
Andrew Tridgell 8d49e1ac18 Copter: re-added reason to mode change log msg 
this was lost in the mode restructuring
 2018-02-22 09:07:59 +10:00
Dr.-Ing. Amilcar Do Carmo Lucas def098bd8a Copter: obey ADSB_ENABLED == DISABLED 2018-02-21 22:11:34 +09:00
Randy Mackay f0534a35d1 Copter: format change for includes 
non-functional change
 2018-02-21 21:56:01 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 137de0fea5 Copter: conditionaly include more header files 
this should help catch missing macros
 2018-02-21 21:55:59 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 381bae1a4a Copter: add missing defines to config.h 2018-02-21 21:55:33 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 002494c048 Copter: Obey CAMERA == DISABLED 2018-02-21 17:03:28 +10:00
murata 6f20c6a97b Copter: Set the loop rate of G_dt as a variable. 2018-02-20 10:51:20 +11:00
Andrew Tridgell 348a757cc6 Copter: re-enable FLOWHOLD mode on skyviper 2018-02-14 18:27:00 +11:00
Andrew Tridgell 00ec3efb48 Copter: initialise G_Dt to 1.0/400 2018-02-13 17:15:05 +11:00
Peter Barker 730adc3f7c Copter: eliminate perf_update scheduler table shim 2018-02-13 17:15:05 +11:00
Andrew Tridgell f06fdf330e Copter: use get_last_loop_time_s() for G_Dt 2018-02-13 17:15:05 +11:00
Andrew Tridgell e0de4bccdf Copter: use filtered loop time 2018-02-13 17:15:05 +11:00
Peter Barker de56ae56e1 Copter: pass log-performance-bit at init time rather than update time 2018-02-13 17:15:05 +11:00
Peter Barker bfc373aeff Copter: move logging of PM messages to AP_Scheduler 2018-02-13 17:15:05 +11:00
Peter Barker 375911cd7c Copter: move PERF: statustext sending into AP_Scheduler 2018-02-13 17:15:05 +11:00
Peter Barker 80a3d63264 Copter: use AP_Scheduler's loop() function 2018-02-13 17:15:05 +11:00
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
Randy Mackay 9eda7f4e31 Copter: global-pos-int uses system time 2018-02-13 08:52:48 +09:00
Peter Barker e6ece4cf3d Copter: correct use of parent class constructors (heli) 2018-02-13 08:22:30 +09:00
Randy Mackay 0ca653c8dd Copter: disable winch, gripper, sprayer on v2 build 2018-02-12 13:50:55 +09:00
Andrew Tridgell 7938bd08bb Copter: make flowhold mode conditional 
reduces build size on px4-v2 by 4k
 2018-02-12 13:34:47 +09:00
murata 296ee7315b Copter: minor formatting fixes 2018-02-12 12:17:05 +09:00
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
Peter Barker 8f8917369c Copter: correct use of parent class constructors 2018-02-09 13:41:12 +11:00
Peter Barker 5e55784707 Copter: remove unneeded and unwanted virtual keywords 2018-02-09 09:11:04 +09:00
Randy Mackay 4319e37f0c Copter: non-functional FlowHold changes 
class declaration moved to alphabetical position in mode.h
parameter descriptions include FlowHow at beginning to help distinguished from optical flow parameters
resolved compiler warnings
 2018-02-09 10:56:32 +11:00
Andrew Tridgell 763aee6b48 Copter: fixed units on flowhold brate rate 2018-02-08 17:36:33 +11:00
Andrew Tridgell 0ed75052f8 Copter: enable parameters inside mode objects 
this adds FHLD_* parameters for FlowHold mode. It is a large patch as
it needs to disentagle the mode class to enable it to be used in
Parameters.h
 2018-02-08 17:36:33 +11:00
Andrew Tridgell 9261e1cbde Copter: enable F412 toymode button setup 
different button mapping for new controller
 2018-02-08 17:36:33 +11:00
Andrew Tridgell daf35f7a30 Copter: pass loop rate to perf_info 2018-02-08 17:36:33 +11:00
Andrew Tridgell 5a210a697e Copter: fixed flowhold build 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 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 a26d19b57c Copter: fill in flight mode in AP_Notify flags 
needed for AP_Radio
 2018-02-08 17:36:33 +11:00
Andrew Tridgell ce0bcf1adc Copter: disable toy_mode by default 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
Andrew Tridgell 662afdc2fd Copter: fixed build warning 
double precision promotion
 2018-02-07 20:33:45 +11:00
Michael du Breuil 69da4041ac Copter: Move logging battery logging code to AP_BattMonitor 2018-02-06 00:11:32 +00:00
Tatsuya Yamaguchi 6698660fd6 Copter: fix Battery FailSafe action with auto mode 2018-02-05 15:13:25 +09:00
Peter Barker ab7a9c9073 Copter: use zero_throttle_and_relax_ac in poshold, drift and autotune 2018-02-02 14:59:16 +09:00
murata c13d6580ae Copter: delete \n from the log using gcs().send_text 2018-02-02 09:38:39 +09:00
Randy Mackay 5a1c3cf5f4 Copter: firmware text to ArduCopter 2018-01-31 12:13:57 +09:00
Randy Mackay 0f6762bbd2 Copter: PSC_ACCZ param name shortened 2018-01-31 08:48:21 +09:00
Randy Mackay a3e9f72b0b Copter: fix default flight mode channel 2018-01-27 16:20:32 +09:00
Andrew Tridgell 89674482a7 Copter: added FLTMODE_CH parameter 
this allows for the flight mode to be on any RC channel, or no channel
at all to disable RC flight modes
 2018-01-27 12:01:35 +09:00
Peter Barker a97301c0f2 Copter: do not allow arming in RTL 2018-01-25 09:53:51 +09:00
Pierre Kancir 10e6fe43dd Copter: Add a switch option to enable/disable RC_Override 2018-01-24 21:37:41 +09:00
Pierre Kancir cfc69214e6 Copter: add LAND_ALT_LOW parameter 2018-01-24 21:14:35 +09:00
Randy Mackay 60c3ae1ec2 Copter: fix spelling in drift mode variable name 
non-functional change
 2018-01-24 17:13:15 +09:00
Randy Mackay f8c1d08316 Copter: 3.5.5-rc1 release note update 2018-01-24 12:09:43 +09:00
Randy Mackay 929dd04f2a Copter: 3.5.5-rc1 release notes 2018-01-24 12:09:39 +09:00
Randy Mackay eefa629039 Copter: remove setting accel_z PID controller's dt 
This is handled from within the pos controller
this commit can be merged with Copter: move pos-control pids to pos-control library
 2018-01-23 12:00:43 +09:00
Randy Mackay 8d6f8e4d9c Copter: move pos-control pids to pos-control library 2018-01-23 12:00:43 +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 996115c0d3 Copter: eliminate MAIN_LOOP_SECONDS macro 2018-01-20 15:35:58 +11:00
Michael du Breuil 0ddcb0a6fb Copter: Support AP_BattMonitor_Params 2018-01-17 22:21:55 +00:00
Alexey Bulatov 8accfb97f6 ArduCopter: Check for nullptr for motors class pointer 
Because of added initialisation of UAVCAN send_heartbeat function
starts before motors initialisation. So we need check is object created.
 2018-01-17 07:24:17 -08:00
Dylan Herman c772e2d3fd Copter: sets SmartRTL home after AHRS home is set 
Now calls AP_SmartRTL::set_home when arming. In addition, it calls it whenever
the ahrs home is set to the current location, whether by GCS or in-flight

Copter: merge
 2018-01-17 11:04:46 +09:00
Randy Mackay e85b1ac740 Copter: pass dt to avoidance calls 2018-01-16 12:13:48 +09:00
Leonard Hall 48d0ad26a6 Copter: mode_land sends dt to sqrt controller 2018-01-16 12:13:48 +09:00
Randy Mackay b47d575f65 Copter: minor spelling fix 
non-functional change
 2018-01-12 16:51:25 +09:00
Peter Barker 6bcdab55d0 Copter: rename sys_status methods from geofence_ to sys_status_ 2018-01-09 17:15:19 +00:00
Peter Barker 077b062701 Copter: change pre-arm checks to allow interlock to be enabled 
With this change we will continue to tell the user their interlock is
enabled, but we will not fail the pre-arm checks.

This will mean that the blinking-LED indicators will show the vehicle as
armable (flashing green / flashing blue), even if the interlock would
prevent arming.

This has the advantage that you don't need your vehicle in the
"dangerous" state to work out whether arming will work when you attempt
to arm it.

Note that we repeat the interlock switch check in the arming checks, and
it WILL fail if the interlock switch is enabled.
 2018-01-09 08:13:06 +09:00
Peter Barker 114628afe4 Copter: use zero_throttle_and_relax_ac in stab, guided, acro and auto 2018-01-08 12:02:49 +00:00
Peter Barker 8d658e1dbc Copter: correct misleading comment in mode_throw 2018-01-08 12:02:49 +00:00
Peter Barker cb129fbdaf Copter: remove argument to check() 
Also, check() was check_fence()
 2017-12-28 15:38:37 +00:00
Peter Barker d1201e4776 Copter: tidy zero_throttle_and_relax (NFC) 2017-12-27 12:09:06 +00:00
Peter Barker 71ad1b5815 Copter: use zero_throttle_and_relax_ac function 2017-12-27 12:09:06 +00:00
Peter Barker 41dc8554c0 Copter: pull out a zero_throttle_and_relax function 2017-12-27 12:09:06 +00:00
Peter Barker 4c7491a05b Copter: mode_auto's landing_gear_deploy method defers to mode_rtl 
Since we defer our rtl_run behaviour to the RTL flightmode, it should
also specify the landing gear behaviour
 2017-12-27 12:08:15 +00:00
Peter Barker d9235d3d41 Copter: make landing_gear_should_be_deployed a base-class method 2017-12-27 12:08:15 +00:00
Peter Barker dda38d65eb Copter: AP_AHRS no longer requires GPS in constructor 2017-12-27 00:58:02 +00:00
Matt 5d6c979f70 COPTER: Fix MOUNT_CONTROL yaw in missions 
If a the mount instances (gimbal) does not support yaw/pan control, the
copter needs to yaw in response to a DO_MOUNT_CONTROL command in
missions.  Checking if the mount has pan control, and if not, yawing the
copter was missing from the mission commands logic. As such, a
MOUNT_CONTROL command would control pitch but not yaw/pan.  This patch
impliments checking for pan control, and initiating copter yaw as
required.
 2017-12-23 10:57:31 +09:00
Matt c0f0e3eca3 COPTER: Fix MOUNT_CONTROL yaw in guided 
If the mount instance does not support yaw/pan, the copter needs to yaw in
response to MSG_MOUNT_CONTROL and MAV_COMMAND_DO_MOUNT_CONTROL commands from
a GCS or co-computer. There was no checking for mount pan in the GCS_Mavlink
logic.  As such, no yaw takes place when a mount control command calls for it.
This patch impliments copter yaw control for both MSG_MOUNT_CONTROL and
MAV_COMMAND_DO_MOUNT_CONTROL in copter GCS_Mavlink.
 2017-12-23 10:57:31 +09:00
Peter Barker 4dcb5aa3de Copter: stop setting home distance in fence 2017-12-15 01:42:49 +00:00
Peter Barker bf5f51a616 Copter: factor out takeoff_trigger from althold, sport and loiter 2017-12-14 23:45:54 +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 7222380598 Copter: populate system status bits for fence 2017-12-13 10:04:50 +09:00
Peter Barker 377466ddda Copter: fence no longer requires AP_InertialNav 2017-12-13 10:04:50 +09:00
Peter Barker d09b0696db Copter: correct checking of heli mode change 
init() may have changed all sorts of things about the
vehicle - wp navigation, position controllers, attitude controllers...

Do the heli check before doing any of that so we don't change state and
then fail to change mode
 2017-12-13 08:49:01 +09:00
Randy Mackay 7504237fbb Copter: rename flight_mode.cpp to mode.cpp 2017-12-12 20:39:48 +09:00
Randy Mackay 99bafb0df1 Copter: rename heli_control_xx to mode_xx_heli 2017-12-12 10:39:26 +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 6e9de7e609 Copter: flight_mode formatting changes 
non-functional change
 2017-12-12 10:39:26 +09:00
Randy Mackay 2e71a641c3 Copter: FlightMode allow_arming format changes 
non-functional change
 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 7494eb2e77 Copter: alphabetise flight mode header file 2017-12-12 10:39:26 +09:00
Randy Mackay a90979ec8e Copter: remove FlightMode_Avoid_ADSB.h file 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
Randy Mackay 20d7216179 Copter: remove comments 
non-functional change
 2017-12-12 10:39:26 +09:00
Randy Mackay ac8c2b3f03 Copter: resolve compiler warning from flight-mode declaration 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 adf4140b9b Copter: fix heli-flags compilation issue 2017-12-06 08:24:24 +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 0ca5605b8d Copter: FlightMode: remove virtual from many methods 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 1de99c737e Copter: remove unimplemented heli desired_yaw_rate 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
Sharvashish Das 395a4ad4ce Copter: add z-axis obj avoidance to guided vel control 
added code to adjust z velocity using avoidance
 2017-12-05 15:58:00 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 2235b22510 Copter: Also report distance and bearing to target in Guided_PosVel mode 2017-12-05 09:17:15 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas ce3197e0ac Copter: use the return code of the guided_set_destination_posvel() function calls 2017-12-05 08:57:55 +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
Dr.-Ing. Amilcar Do Carmo Lucas 928bc19cee Copter: Use DEGX100 define instead of hardcoded value (NFC) 2017-12-05 08:54:49 +09:00
khancyr 015d71bacd ArduCopter: remove useless .gitignore from directory 2017-12-04 07:52:25 +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
Randy Mackay 8d2db3218c Copter: minor comment fix to code handling SET_POSITION_TARGET msgs 2017-11-27 14:24:30 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas bde1aaa2f6 Copter: Rename variable to correct the meaning (NFC) 2017-11-27 14:17:21 +09:00
Dr.-Ing. Amilcar Do Carmo Lucas 8678d13e7b Copter: Update the result of a MavLink message, this is a NFC 
The result variable is not used, but at least it gets documented :)
 2017-11-27 14:17:21 +09:00
Andrew Tridgell ef0144751e Copter: allow THROW_NEXTMODE=LOITER 2017-11-27 14:14:06 +09:00
Andrew Tridgell 311d7c11e4 Copter: added LOITER option in THROW_NEXTMODE 2017-11-27 14:14:06 +09:00
Randy Mackay 020e0bfd40 Copter: fix disable ESC calibration for brushed motors 2017-11-27 13:31:21 +09:00
Andrew Tridgell 650a0e06bd Copter: disable ESC calibration for brushed motors 2017-11-27 12:28:40 +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 8845b6d5b5 Copter: rename control_safe_rtl.cpp to control_smart_rtl.cpp 
non-functional change
 2017-11-23 20:05:01 +09:00
Randy Mackay 58e5b7f458 Copter: 3.5.4 release notes 2017-11-23 12:17:50 +09:00
Peter Barker dc99a29dfc ArduCopter: support for units on fields 2017-11-23 10:40:30 +11:00
Randy Mackay 9a03ba1bfb Copter: move barometer_accumulate to sensors.cpp 
non-functional change
 2017-11-22 17:13:14 +09:00
Andrew Tridgell 23b20307af Copter: use cork/push wrapper 2017-11-21 14:10:54 +11:00
Randy Mackay c5141ad87e Copter: 3.5.4-rc2 release notes 2017-11-17 13:39:20 +09:00
Peter Barker 04c9e966e0 Copter: use AP::PerfInfo library 2017-11-16 15:31:53 +00:00
Peter Barker 5c2f68e8f5 Copter+AP_Scheduler: move perf_info.cpp into Scheduler 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
Randy Mackay 8d6d09169f Copter: rtl uses labs for alt comparison 2017-11-16 09:59:25 +09:00
murata acfcd9980d Copter: Modify method name in method header. 2017-11-16 09:26:26 +09:00
Peter Barker 8f48b3187e Copter: use gps singleton for GCS function 2017-11-15 13:43:03 +00:00
ChrisBird 1f1bb61bfa Copter: Add PreArm - PID Parameter check 
This addresses the enhancement requested in: https://github.com/ArduPilot/ardupilot/issues/2424

It checks various PID values to check if they are zero, if they are and the corresponding rate forward feed is zero then it flags it as PreArm failure.
It has been added to the parameter check, so can be overridden if required.
 2017-11-15 21:58:24 +09:00
André Kjellstrup e7a1ceca4c Copter: Option to trig by distance only when in AUTO mode 2017-11-14 00:10:22 +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 3846da5e23 Copter: remove redundant terrain checks 
Now taken care of by continuous prearm checks
 2017-11-08 19:08:16 +09:00
Peter Barker d537461934 Copter: remove redundant battery checks 
Now taken care of by continuous prearm checks
 2017-11-08 19:08:14 +09:00
Peter Barker b3b1680e11 Copter: remove redundant fence checks 
Now checked as part of continuous prearm
 2017-11-08 19:08:12 +09:00
Peter Barker 04af1cb331 Copter: remove redundant baro checks 
Now checked as part of continuous prearm checks
 2017-11-08 19:08:10 +09:00
Peter Barker b5c907312c Copter: remove redundant gps checks 
Now tested as part of continuous pre-arm checks
 2017-11-08 19:08:08 +09:00
Peter Barker d563a9dd5d Copter: remove redundant INS checks 
Now checked by continuous prearm checks
 2017-11-08 19:08:06 +09:00
Peter Barker d3b73f8557 Copter: correct notification of pre-arm-gps-check failure 2017-11-08 19:08:03 +09:00
Peter Barker 818faa92d4 Copter: rc calibration checks are called by AP_Arming 2017-11-08 19:07:59 +09:00
Peter Barker 9b52c9b670 Copter: prearm logging checks are called in parent class 2017-11-08 19:07:55 +09:00
Peter Barker 49dd5f4f80 Copter: prearm board voltage checks are called in parent class 2017-11-08 19:07:53 +09:00
Peter Barker b8802ec5c2 Copter: prearm gps checks are called in parent class 2017-11-08 19:07:51 +09:00
Peter Barker 7c0869fa19 Copter: prearm ins checks are called in parent class 2017-11-08 19:07:49 +09:00
Peter Barker cb8fa41cb1 Copter: prearm compass checks are called in parent class 2017-11-08 19:07:46 +09:00
Peter Barker 30c1a040d7 Copter: prearm baro checks are called in parent class 2017-11-08 19:07:44 +09:00
Peter Barker c129445ff6 Copter: call common prearm checks 2017-11-08 19:07:42 +09:00
Peter Barker 7b3e111f85 Copter: continuously run pre-arm checks 
Stop "latching" the prearm checks, so if the checks start to fail
the craft becomes non-armable.
 2017-11-08 19:02:44 +09:00
Randy Mackay ef05281dc2 Copter: 3.5.4-rc1 release notes 2017-11-08 12:21:46 +09:00
Peter Barker ef00978662 Copter: add missing disarm-on-land parameter to rtl_land_run 
Always disarm
 2017-11-06 22:58:16 +00:00
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
bnsgeyer 6d0cfc13a2 Copter: heli: Update swashplate behavior 
change swashplate behavior on ground in Acro, Stabilize, and AltHold
flight modes. See discussion here:

https://discuss.ardupilot.org/t/tradheli-swashplate-behavior-while-on-the-ground-and-potential-fix-to-issue-5396/22463/18
 2017-10-28 12:31:06 +11:00
Peter Barker c7216a2740 Copter: call ins periodic function 2017-10-27 16:33:45 +11:00
Randy Mackay 842eed5426 Copter: accept do-winch commands with max rate 2017-10-27 09:20:38 +09:00
Randy Mackay 47bbf49aa6 Copter: fix tuning knob rate control of winch 2017-10-27 09:20:38 +09:00
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 2c511b4269 Copter: add AP_Winch and AP_WheelEncoder to build 2017-10-27 09:20:38 +09:00
ChristopherOlson 51c8c1adb2 Copter: TradHeli update comment 
be consistent with dynamic flight speed definition
 2017-10-26 17:15:40 +11:00
ChristopherOlson 572c609cd6 Copter: Trad Heli-change default accel_z_p to 0.30 
prevents collective cycling in altitude controlled modes
 2017-10-26 17:15:40 +11:00
Andrew Tridgell 0d0f1d264b Copter: fixed order of motor setup 2017-10-22 15:52:50 +11:00
Andrew Tridgell c4b0d7bc35 Copter: removed calls to motors->enable() 2017-10-22 15:52:50 +11:00
Andrew Tridgell f49ab44f25 Copter: support simple accel calibration 2017-10-10 10:57:38 +11:00
Andrew Tridgell e2f710523e Copter: added inverted flight to switch docs 2017-10-03 10:16:41 +11:00
Andrew Tridgell 951ed95eb9 Copter: support inverted flight CH7 option 2017-10-03 10:16:41 +11:00
Andrew Tridgell 18f04abfe8 Copter: added HELI_QUAD 2017-10-03 10:16:41 +11:00
Michael du Breuil 516709fc72 Copter: Check GPS health 2017-09-27 19:29:32 +01:00
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 8f304ed809 ArduCopter: add static create method for 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 b4f5256a9e ArduCopter: add static create method to 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 f5c2ffffb9 global: remove DataFlash from AP_Mount::init() 2017-09-26 03:01:21 +01:00
Lucas De Marchi 53c82b4aaf global: use static method to construct DataFlash_Class 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 d213ccbbfc ArduCopter: protect version.h from inclusion and use ap_version.h 2017-09-23 21:37:45 -07:00
Lucas De Marchi 4ef5186733 ArduCopter: do not include version.h/ap_version.h 
The interface provided by each vehicle should be used to get the
version.
 2017-09-23 21:37:45 -07:00
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
Randy Mackay a9f257ddc6 Copter: 3.5.3 release notes 2017-09-21 11:13:02 +09:00
Andrew Tridgell 22bfec4d2a Copter: fixed motor runup check for heli 
for all auto-throttle modes we should not allow a mode change to the
mode if the motor runup is not complete.

This moves the code to the set_mode() so it applies to all modes

fixes issue #6956
 2017-09-21 08:52:50 +10:00
Andrew Tridgell 8cf8f3a288 Copter: fixed collective input with H_SV_MAN=1 for heli 
when H_SV_MAN=1 we do direct pass-thru so the user can test swash
range. The problem is that it uses norm_input() for throttle, which
depends on RC3_TRIM. Nowhere else in heli or copter do we depend on
RC3_TRIM, so the user gets a misleading idea of behaviour when testing
their swash.
 2017-09-21 08:52:50 +10:00
Randy Mackay a8a5c1d332 Copter: command-long DO_SET_HOME check first param is zero 
Also do not use current location just because lat,lon,alt are all zero
 2017-09-20 12:14:38 +09:00
Randy Mackay d982cfed4a Copter: accept DO_SET_HOME within COMMAND_INT 2017-09-20 12:14:38 +09:00
Randy Mackay 70cf21a5ba Copter: accept more mav-frame types 
accept mav frames whether or not they have _INT appended
 2017-09-20 12:14:38 +09:00
Peter Barker 45d056fcf0 Copter: ekf position checks are done before we call failsafe_ekf_event 2017-09-19 12:44:43 +01:00
Peter Barker d5caff3f1b Copter: do not enter ekf-failsafe based on position if pos not needed 2017-09-19 12:44:43 +01:00
Peter Barker ff82f23cf6 Copter: factor out a ekf_check_position_problem method 2017-09-19 12:44:43 +01:00
Peter Barker 84a873a520 Copter: remove redundant check; we will never failsafe_ekf_event if disarmed 
See line 37
 2017-09-19 12:44:43 +01:00
Peter Barker 0afe1e7473 Copter: move handling of SET_GPS_GLOBAL_ORIGIN up 2017-09-19 15:44:23 +09:00
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
Michael du Breuil ffc2aeee32 Copter: Support landing flight termination 2017-09-13 13:15:08 -07:00
Peter Barker 6b5fd5fbdd Copter: move gcs_out_of_time into GCS object 2017-09-12 18:28:07 +01:00
Randy Mackay b1d1b5122b Copter: 3.5.3-rc1 release notes 2017-09-12 16:43:15 +09:00
squilter 4b57a4a231 Copter: rename SafeRTL to SmartRTL 2017-09-09 14:05:41 +09:00
squilter 7abb5b10fc Copter: build scripts changed from SafeRTL to SmartRTL 2017-09-09 14:05:41 +09:00
Randy Mackay ed0203e53c Copter: smooth safertl return journey using fast waypoints 2017-09-09 14:05:41 +09:00
Randy Mackay 6684e3de56 Copter: minor comment change for SafeRTL 2017-09-09 14:05:41 +09:00
Randy Mackay 8df042f00c Copter: complete addition of SafeRTL flight mode 2017-09-09 14:05:41 +09:00
Randy Mackay 218983d594 Copter: safe-rtl changes after peer review 2017-09-09 14:05:41 +09:00
squilter ba0e08552f Copter: add SafeRTL flight mode 2017-09-09 14:05:41 +09:00
squilter ec8c4b1744 Copter: add AP_SafeRTL to build 2017-09-09 14:05:41 +09:00
Peter Barker 3f67dfe4fe Copter: move handling of do_send_banner up 2017-08-30 15:54:47 +01:00
Peter Barker 3da70f19c1 Copter: handle param_request_list in GCS_MAVLINK base class 2017-08-30 15:54:47 +01:00
Peter Barker e6ac68fd2a Copter: handle param_set in GCS_MAVLINK base class 2017-08-30 15:54:47 +01:00
Peter Barker bb06db6389 Copter: move send_autopilot_request calls up to GCS base class 2017-08-30 15:54:46 +01:00