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Commit Graph

678 Commits

Author SHA1 Message Date
Randy Mackay
20ac17cda8 Copter: remove adsb beacon nav-guided and visodom from min features 2018-03-14 20:41:47 +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
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
night-ghost
adcc309f15 Copter: allow AP_Stats to be optional 2018-03-02 07:23:35 +11:00
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
Randy Mackay
0ca653c8dd Copter: disable winch, gripper, sprayer on v2 build 2018-02-12 13:50:55 +09:00
murata
c31c2a4cf1 Copter: optionalize the winch 2018-02-12 12:16:57 +09:00
Andrew Tridgell
ce0bcf1adc Copter: disable toy_mode by default 2018-02-08 17:36:33 +11:00
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
Pierre Kancir
cfc69214e6 Copter: add LAND_ALT_LOW parameter 2018-01-24 21:14:35 +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
Peter Barker
996115c0d3 Copter: eliminate MAIN_LOOP_SECONDS macro 2018-01-20 15:35:58 +11:00
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
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
Peter Barker
89e6e70235 Copter: remove MAIN_LOOP_RATE in favour of parameter value 2017-08-29 08:41:07 +09:00
Peter Barker
02a590024d Copter: base loop time remaining on variable loop rate 2017-08-26 09:33:45 +09:00
Peter Barker
c6b9c84d1f Copter: remove CLI 2017-08-14 10:23:50 +09:00
Randy Mackay
713c08672f Copter: integrate AP_VisualOdom 2017-04-19 11:04:40 +09:00
Peter Barker
ac980fdd47 Copter: use compass_checks from AP_Arming 
User-visible changes:
 - checks will fail if calibration is in progress
 - PX4FMU_V1 will now have COMPASS_OFFSETS_MAX of 600, not 500
 - if the primary compass is not set to be used then compass checks will always pass
 2017-01-17 11:45:08 +09:00
Peter Barker
f3a31b988a Copter: use ins_checks from AP_Arming 
Functionality changes:
 - gyros and accels only have to be consistent in last 10 seconds to pass
 - ins.use_accel() is honoured when checking for consistency
 - ins.use_gyro() is honoured when checking for consistency
 - threshold is trippled rather than doubled for accel cal checks
 - checks are reordered
 2017-01-17 11:45:08 +09:00
Andrew Tridgell
e85df47b06 Copter: fixed parameter handling for pointer objects 
fixed loading of default files and use of POINTER flag on object
groups
 2017-01-12 17:39:37 +11:00
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
Peter Barker
d3e331e1f2 Copter: correct compilation when rally disabled 2017-01-03 10:24:56 +09:00
Randy Mackay
0ac00dbfd6 Copter: add FRAME_CLASS parameter 2016-12-31 10:55:23 +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
b87ad8378b Copter: ACRO_Y_EXPO default to 0 
This value affects yaw in all flight modes.  Leonard is planning to change the name to make that more clear.
 2016-11-07 10:34:32 +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
Leonard Hall
0a6714f4ae Copter: rename variable ROLL_PITCH_YAW_INPUT_MAX 
No functional change
 2016-10-26 20:59:43 +09:00
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
5c47f3f9e5 Copter: add acro throttle and yaw expo and smoother manual pilot throttle 2016-10-15 11:27:53 +09:00
Randy Mackay
fcc2a1b378 Copter: integrate AP_Proximity into main vehicle 2016-10-13 20:21:07 +09:00
Jonathan Challinger
a393bd26d7 Copter: add stick gesture to begin compass calibration 2016-10-05 16:29:02 +09:00
Randy Mackay
f37c17bd80 Copter: include spray in build by default 2016-09-13 15:16:13 +09:00
khancyr
733786830d Copter: config.h fix typo 2016-08-26 14:28:35 +09:00
Andrew Tridgell
f18e0dadc9 Copter: added optional AdvancedFailsafe for copter and heli 2016-08-25 14:14:18 +10:00
Andrew Tridgell
06154fc4ab Copter: use rangefinder to prevent auto-disarm in the air 
only consider the vehicle to be landed if either no rangefinder or
rangefinder shows an altitude below 2m
 2016-08-16 15:14:10 +10:00
Randy Mackay
9842840346 Copter: GND_EFFECT_COMP parameter to enable ground effect compensation 2016-08-09 13:31:36 +09:00
Randy Mackay
ac4f36a992 Copter: remove LAND_REQUIRE_MIN_THROTTLE_TO_DISARM feature 
This definition has been false for over a year and we have not heard of any users wanting to delay the disarming until the pilot's throttle goes to zero.  Removing this feature removes a small bit of complexity from the code.
 2016-08-05 12:40:37 +09:00
Jonathan Challinger
80f3541933 Copter: add configurable arming delay 2016-08-04 15:19:22 +09:00
Randy Mackay
8e58ea9277 Copter: add throw mode defines for required speed 
No functional change
 2016-08-02 20:25:52 +09:00
Leonard Hall
48eb4cf674 Copter: remove THR_MID 2016-06-18 11:55:49 +09:00
Leonard Hall
dec9323127 Copter: remove THR_MIN 
Equivalent is AP_Motors SPIN_MIN
 2016-06-18 11:55:49 +09:00
Randy Mackay
6a1bdebf25 Copter: remove THR_MAX definition for changing throttle input range 
We do not support changing the throttle input range from it's expected 0 ~ 1000
 2016-06-18 11:55:49 +09:00
Randy Mackay
2815af81ad Copter: rename RTL_CONE_SLOPE_DEFAULT definition 
Also tiny formatting fix
 2016-05-31 12:20:21 +09:00
Lucas De Marchi
33f5fc5f38 ArduCopter: remove support for flymaple 2016-05-23 21:49:45 -03:00
Randy Mackay
59070653cc Copter: provide filtered range finder altitude to AC_WPNav 2016-05-21 10:36:53 +09:00
Randy Mackay
e18bf3af56 Copter: remove unused definitions 2016-05-21 10:36:53 +09:00
Randy Mackay
c7f80324fa Copter: tilt correct rangefinder 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
Ricardo de Almeida Gonzaga
ce241dd97a ArduCopter: Fix typos 2016-05-13 19:20:07 -03:00
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
Randy Mackay
47658fe964 Copter: add terrain failsafe 2016-04-30 10:33:01 +09:00
Randy Mackay
762c9ed4b0 Copter: remove unused FS_CLOSE_TO_HOME definition 2016-04-22 21:30:44 +09:00
Jonathan Challinger
6b5ba86f21 Copter: simplify GCS failsafe 2016-04-14 12:24:04 +09:00
Randy Mackay
bde498375c Copter: remove attitude PIDs 
These are now part of AC_AttitudeControl
 2016-04-01 11:59:30 +09:00
Lucas De Marchi
e88ba38595 ArduCopter: replace header guard with pragma once 2016-03-16 18:40:44 +11:00
Randy Mackay
e428abde42 Copter: enable precision landing by default 2016-02-29 19:17:20 +09:00
Lucas De Marchi
09e7cbe005 ArduCopter: remove unused CMAKE define 
This is a leftover from previos cmake build system.
 2016-02-19 19:15:39 -02:00
Randy Mackay
a1b0a53e17 Copter: remove AP_Limits from comments 2016-02-04 09:55:07 +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
Randy Mackay
e16cccf218 Copter: RTL config formatting fix 
No functional change
 2016-01-07 17:29:54 +09:00
Jonathan Challinger
3800c66f07 Copter: add RTL_CONE_SLOPE 2016-01-07 17:22:33 +09:00
Jonathan Challinger
750cacc875 Copter: barometer ground effect compensation 2015-12-28 13:51:27 +09:00
Jonathan Challinger
933ffb2b10 Copter: move prearm logic to arming_checks.cpp 2015-12-24 14:10:23 +09:00
Randy Mackay
d9baf334c4 Copter: remove unused definitions 2015-12-02 14:56:24 +09:00
Randy Mackay
4ef53427f2 Copter: allow ADSB to be disabled 2015-11-27 15:02:17 +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
Lucas De Marchi
3e889b005f ArduCopter: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1 2015-11-04 12:14:13 +11:00
Randy Mackay
0f55b2a0eb Copter: replace vehicle compass consistency check 2015-09-16 15:13:38 +09:00
Leonard Hall
61d6c44e3b Copter: tricopter yaw rate filter to 100hz 2015-09-07 12:30:39 +09:00
Randy Mackay
26ded641db Copter: integrate Precision Landing lib 2015-08-31 18:00:28 +09:00
Andrew Tridgell
90909f2b4a Copter: added DISARM_DELAY parameter 
this allows automatic disarming to be disabled, or set to a shorter or
longer time as appropriate for the user
 2015-08-31 11:44:08 +10:00
Randy Mackay
1608cffe95 Copter: increase failsafe close-to-home to 5m 
This distance is used when a failsafe is initiated to decide whether to RTL or LAND
 2015-08-28 09:24:37 +09:00
Randy Mackay
6a4f4c5f8d Copter: failsafe RTL vs LAND decision always based on 2m 
Previously this decision was based on the WPNAV_RADIUS parameter which is unexpected (and undocumented) behaviour.  Better just to hard-code it to 2m and remove the dependency on this parameter.
 2015-08-23 11:03:35 +09:00
Andy Piper
425e26c258 Copter: reduce GPS_HDOP_GOOD params default to 140 
This is required as part of the ublox change from pdop to hdop
 2015-07-14 15:02:06 +09:00
Randy Mackay
063faa0383 Copter: add RTL_CLIMB_MIN 
Vehicle climbs at least this many cm when entering RTL
 2015-07-13 20:38:52 +09:00
Randy Mackay
8cdfac8fcd Copter: remove baro and pilot thr from crash checks 
Add acceleration < 3m/s/s check
Run crash and parachute checks at 400hz
 2015-06-19 15:46:10 +09:00
Randy Mackay
e9829e0d82 Copter: remove unused landing detector definitions 
Also separate from land mode definitions
 2015-06-19 15:46:09 +09:00
Randy Mackay
ce1031a5bd Copter: remove AP_AHRS_NAVEKF_AVAILABLE checks 
Copter requires an EKF
 2015-06-10 12:18:38 +09:00
Randy Mackay
aa05325b54 Copter: add althold as ekf failsafe action 2015-06-10 12:06:08 +09:00
Randy Mackay
4408f01f39 Copter: rename ekf_check_thresh to fs_ekf_thresh 2015-06-10 12:06:06 +09:00
Randy Mackay
ee3ba48097 Copter: set Brake speed to 250 2015-06-05 15:29:00 +09:00