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6774 Commits

Author SHA1 Message Date
Peter Barker
ce9800e597 ArduCopter: return MAV_RESULT_FAILED from do_aux_function if invalid function 2021-03-31 11:36:09 +11:00
Peter Barker
5edfed0083 Copter: factor out a mode-change-failed method 2021-03-30 19:58:05 +11:00
Peter Barker
1e0f106ed4 Copter: make AutoTune object private state to ModeAutoTune 2021-03-30 11:23:10 +11:00
Peter Barker
d387ad9921 Copter: have allows_arming take a AP_Arming::Method rather than bool from_gcs 
This API predates us having the arming methods being passed around.

This makes the calls look like Plane
 2021-03-30 09:00:26 +09:00
Josh Henderson
f65c4df358 ArduCopter: make Location(Vector3f) require ALTFRAME 2021-03-30 08:56:35 +09:00
Randy Mackay
8a5b5897f0 Copter: remove unused ADSB_ENABLED from Config.h 2021-03-26 16:22:46 +09:00
Randy Mackay
91fa40aea6 Copter: HAL_PROXIMITY_ENABLED replaces PROXIMITY_ENABLED 2021-03-26 16:22:46 +09:00
Peter Barker
45d484c0ba ArduCopter: remove Log_Write_Performance which is not called anywhere 2021-03-26 16:35:08 +11:00
Peter Barker
3af006019b Copter: mark ModeSystemID as has_manual_throttle, no-arm and no-gps 
This has implications for many things, like smoothing transition to auto
modes, and for arming
 2021-03-26 10:26:34 +09:00
murata
31b0682246 Copter: Move the variable definition 2021-03-25 08:55:17 +09:00
Peter Barker
a274697776 Copter: move LAND state variables to be members rather than static 
Also rename one of them as we may be using (e.g.) OF to control position rather
than GPS.
 2021-03-25 09:39:29 +11:00
Peter Barker
dc793e916f Copter: move implementation of get_pilot_desired_yaw_rate into mode.cpp 2021-03-24 20:46:08 +11:00
Emre Saldiran
d5715292a3 Copter: implement set_target_posvel_NED method for use in scripting 2021-03-24 08:55:48 +09:00
murata
0fe65fd6d3 Copter: Added new settings for flight mode channel 2021-03-24 08:50:59 +09:00
Tatsuya Yamaguchi
069b7142b7 Copter: add allows_flip function to Mode class 2021-03-23 22:48:20 +11:00
Tatsuya Yamaguchi
f4eed612d7 Copter: add allows_autotune function to Mode class 2021-03-23 22:48:20 +11:00
Tatsuya Yamaguchi
2b89ac625f Copter: add allows_save_trim function to Mode class 2021-03-23 22:48:20 +11:00
Tatsuya Yamaguchi
0cce5699b2 Copter: change from control_mode to flightmode 2021-03-23 22:48:20 +11:00
Tatsuya Yamaguchi
1dccc0ceb3 Copter: add mode_number function to Mode class 2021-03-23 22:48:20 +11:00
Emre Saldiran
543c2bf55b Copter: change description of system id delay variable (NFC) 2021-03-23 20:09:38 +09:00
Randy Mackay
2d9c6867f4 Copter: accept MISSION_START commands when vehicle is disarmed 2021-03-23 10:12:08 +09:00
Randy Mackay
32fb3cb929 Copter: remove unused update_navigation and run_autopilot 2021-03-23 10:12:08 +09:00
Randy Mackay
1c350514ca Copter: auto mode starts or updates mission from run method 2021-03-23 10:12:08 +09:00
Rishabh
618282e996 Copter: Remove avoidance completly from poshold 2021-03-22 14:04:42 +09:00
Tatsuya Yamaguchi
941c5f8179 Copter: add EKF failsafe notify tones 2021-03-17 20:29:32 +09:00
Randy Mackay
ef33ed5e36 Copter: landing gear enabled on all boards 
Co-authored-by: Tatsuya Yamaguchi <susumu-336@hotmail.co.jp>
 2021-03-17 10:41:11 +09:00
Tatsuya Yamaguchi
ed8384b45a Copter: add option to disable LANDING_GEAR 2021-03-17 10:41:11 +09:00
Tatsuya Yamaguchi
52cd042d69 Copter: update filtered range finder altitude to AC_WPNav 2021-03-17 09:30:38 +09:00
Ryan Birmingham
c2cdb00f85 Copter: constrain throttle before setting deadband 2021-03-17 09:10:08 +09:00
Randy Mackay
e0a8baccfd Copter: pre-arm check of EKF pos and vel variances 2021-03-16 13:02:46 +09:00
Randy Mackay
49486b7cea Copter: ekf failsafe may trigger while disarmed but takes no action 2021-03-16 13:02:46 +09:00
Randy Mackay
5babe93201 Copter: ekf failsafe only triggers if it has ever passed 2021-03-16 13:02:46 +09:00
Randy Mackay
be29b23195 Copter: do-mount-control ignored if no mount 
Co-authored-by: srirajshukla <srirajshukla@gmail.com>
Co-authored-by: Yash Vadi <yvadi9274@yahoo.com>
 2021-03-16 10:07:16 +09:00
Peter Barker
211a7f85b5 ArduCopter: remove separate calls to get delta-times for vel and ang 2021-03-13 11:29:29 +11:00
Siddharth Purohit
da7d34224d Copter: do common gps arming checks first before moving on 2021-03-12 16:32:36 +09:00
Siddharth Purohit
0c42c56c36 Copter: move underscore one layer down for GPS 2021-03-12 16:32:36 +09:00
Rishabh
e727d08266 Copter: Provide downward facing rangefinder readings to proximity lib 2021-03-09 11:02:26 +09:00
chobits
b7c937592e Copter: send mission_item_reached in guided 2021-03-09 10:04:24 +09:00
James O'Shannessy
d055d7a581 ArduCopter: Cleanup - removes autoenabling of fence with AC_Fence parameter 2021-03-05 14:52:46 +11:00
James O'Shannessy
f14e1c2799 ArduCopter: Ensure fence has opportunity to auto disable for landing 2021-03-05 14:52:46 +11:00
James O'Shannessy
8ab1cf869d ArduCopter: Remove fence_checks in AP_Arming because they are common across all vehicles now 2021-03-05 14:52:46 +11:00
James O'Shannessy
a88f2721a8 ArduCopter: Use auto enable and auto disable from AC_Fence 2021-03-05 14:52:46 +11:00
James O'Shannessy
2a9affe517 ArduCopter: Remove unused fence floor enable function 2021-03-05 14:52:46 +11:00
James O'Shannessy
f228adfa75 ArduCopter: Improve auto-enable/disable of fence 2021-03-05 14:52:46 +11:00
Dr.-Ing. Amilcar do Carmo Lucas
92122e5133 Copter: automatically enable and disable floor fence on automated takeoff and landing 2021-03-05 14:52:46 +11:00
Tom Pittenger
38fd43ac2c Copter: change SRx_ docs value 1 50 2021-03-03 18:17:22 +11:00
Mathias Bos
b3b7f2d3d2 Copter: Remove yaw rate wrapping in guided mode. 2021-03-03 08:09:08 +09:00
Randy Mackay
64289d436a Copter: reduce ANGLE_MAX default to 30deg 2021-03-03 08:03:39 +09:00
murata
17f285b68f Copter: Add Smart RTL or LAND to the fence action 2021-03-03 07:59:03 +09:00
Iampete1
2e9c11fbdf Copter: add FLIGHT_OPTIONS param and options bits to disable thrust loss and yaw imbalance warnings 2021-03-02 09:35:06 +09:00
Iampete1
447af29ef1 Copter: add yaw imbalance check 2021-03-02 09:35:06 +09:00
Hwurzburg
7d7a7a365d Copter: correct metadata for do_change_speed cmd 2021-02-24 16:06:41 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
bbb6bbedf4 Copter: 4.0.7 release notes 2021-02-23 08:03:21 +11:00
Rishabh
fdd39ca3a8 Copter: Check for height before turning on proximity simple avoidance 2021-02-16 20:08:00 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
2302f08f75 Copter: run the "point yaw to ROI" controller at full rate (400Hz) instead of 1/4 of full rate (100Hz) 
- This should improve pointing at ROI and replaces #11172
 - Remove unused member variable as per review suggestion
 - declare Mode::AutoYaw::roi_yaw() as const
 2021-02-16 09:30:21 +09:00
Randy Mackay
97c1445bce Copter: ensure send_position_target_global_int alt always absolute 2021-02-15 17:39:07 +11:00
Peter Barker
ea0efd3a1a Copter: correct documentation of use of DO_CHANGE_SPEED parameter 2021-02-15 15:44:17 +11:00
Andy Piper
85a8536243 Copter: All men dream, but not equally. 
Those who dream by night in the dusty recesses of their minds, wake in the day to find that it was vanity:
but the dreamers of the day are dangerous men, for they may act on their dreams with open eyes,
to make them possible.
 2021-02-12 08:35:35 +09:00
Gone4Dirt
1e1be590e2 Copter: Add ignore pilot yaw option bit 2021-02-09 19:39:17 +09:00
Iampete1
a572820dbc Copter: system: use config_error loop don't panic 2021-02-09 12:43:54 +09:00
Iampete1
d6fa4d97e3 Copter: add 6DoF support 2021-02-09 12:43:54 +09:00
Patrick José Pereira
ffe356d597 ArduCopter: Simplify boolean expression 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-09 11:04:18 +09:00
Mark Whitehorn
f405454aba Copter: add nullptr checks for get_frame_string 
fix rebase errors
 2021-02-09 12:43:53 +11:00
Mark Whitehorn
cb687a6fff Copter: move get_frame_string to Motors class 2021-02-09 12:43:53 +11:00
Arsh
3609a1b5fd Copter:PreArm Battery low voltage failsafe message repeated two times fix 2021-02-08 09:12:51 +09:00
Andrew Tridgell
a70f9d54c0 Copter: update release notes for 4.0.7rc1 2021-02-06 19:16:10 +11:00
Patrick José Pereira
ad82e01270 ArduCopter: Add missing const in member functions 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2021-02-03 18:45:14 +11:00
Peter Barker
adc0514cf6 ArduCopter: move control_mode_reason up to AP_Vehicle 2021-02-03 18:24:52 +11:00
Peter Barker
7bbc699165 Copter: make terrain failure strings human-readable 2021-02-03 15:08:29 +11:00
Rishabh
bd37eab3af Copter: Support 3D Simple Avoidance 2021-02-01 14:34:13 +09:00
Iampete1
643966fb3e Copter: add SCRIPTING_MATRIX frame class 2021-01-26 11:07:36 +09:00
Iampete1
0a23084d43 Copter: move get_frame_mav_type to motors 2021-01-26 11:07:36 +09:00
Randy Mackay
dc515b87df Copter: ahrs only checks position in modes that require it 2021-01-26 10:46:49 +11:00
Bill Geyer
d19dca37d5 Copter: 4.0.6 release notes 2021-01-25 18:39:39 -05:00
Peter Barker
9e7a0e6267 Copter: use iterators in parameter conversion 2021-01-22 11:25:32 +09:00
Leonard Hall
5efe94a771 Copter: use AP_Math control functions 2021-01-20 18:19:40 +11:00
Randy Mackay
0b83d45163 Copter: verify land and payload place record flow-of-control internal error 2021-01-20 09:12:02 +09:00
Bill Geyer
9791e52073 Copter: 4.0.6-rc2 release notes 2021-01-16 16:41:53 -05:00
Tatsuya Yamaguchi
b7f5aa7eab Copter: fix compilation when rtl option is disabled 2021-01-13 17:19:19 +09:00
Tatsuya Yamaguchi
621fa857b7 Copter: disable RTL option 2021-01-13 17:19:19 +09:00
Peter Barker
65adf5b4a9 ArduCopter: add do_disarm_checks boolean to disarm call 
this creates symmetry between arming and disarming, at least as far as
the top-level arm() and disarm() calls are concerned.
 2021-01-12 08:48:44 +09:00
Josh Henderson
9daa3bbdaa ArudCopter: privatize AHRS logging 2021-01-12 10:13:22 +11:00
Pierre Kancir
f53892a1fa Copter: don't report initial mode switch as failsafe mode change 2021-01-09 08:28:29 +09:00
Tatsuya Yamaguchi
eab913646e Copter: fix ignore pilot yaw option for guided 2021-01-07 20:40:34 +09:00
Tatsuya Yamaguchi
b6b39673d4 Copter: remove PHLD_BRAKE_* params when PosHold is disabled 2021-01-07 11:41:08 +09:00
murata
5ca7e03eeb Copter: tidy handling of DO_FLIGHT_TERMINATION 2021-01-05 16:48:15 +11:00
murata
44a622ea7f Copter: Set the gravitational acceleration value to the defined value 2021-01-05 09:11:14 +09:00
Tom Pittenger
b80f003c98 Copter: extend Stream rates param count to match MAVLINK_COMM_NUM_BUFFER 2020-12-29 07:52:09 -07:00
bnsgeyer
230ca049c1 Copter: Update 4.0.6-rc1 release notes 2020-12-23 15:02:54 -05:00
bnsgeyer
c75848435e Copter: fix heli land detector and incoporate reset_I_smoothly 2020-12-21 23:33:48 -05:00
bnsgeyer
a845623dfb Copter: Tradheli - make new integrator scheme selectable 2020-12-21 23:33:48 -05:00
bnsgeyer
42b4fd6e0a Copter: change heli integrator management and add hover coll learning 2020-12-21 23:33:48 -05:00
Arsh
3c83eecf78 Copter: AP_Arming: Added check for EKF origin altitude 2020-12-21 20:26:30 +09:00
Pierre Kancir
1e5d9fb299 Copter: set initial mode on startup 2020-12-16 17:27:07 +09:00
Pierre Kancir
be2e243916 Copter: add initial mode parameter 2020-12-16 17:27:07 +09:00
Dr.-Ing. Amilcar do Carmo Lucas
ffa057d61e Copter: prepare 4.0.6-rc1 release notes 2020-12-15 11:21:00 +09:00
Andrew Tridgell
abd3ae8f3b Copter: added mavlink reporting of airspeed and wind 
when we have EKF3 estimation available
 2020-12-11 15:21:41 +11:00
yaapu
497dbd1414 ArduCopter: added virtual getters for waypopint info 2020-12-10 12:39:44 +11:00
Randy Mackay
dc3ded234b Copter: FS_GCS_ENABLE param desc replaces deprecated with removed 
Also modified FS_THR_ENABLE param desc replaces deprecated with removed
 2020-12-09 19:30:48 +09:00
Randy Mackay
98a41ab005 Copter: FS_OPTIONS defaults to continue pilot controlled modes on GCS failsafe 2020-12-09 19:30:48 +09:00
Randy Mackay
e1aaea0834 Copter: pre-arm check of FS_GCS_ENABLE=2 2020-12-09 19:30:48 +09:00
Andrew Tridgell
cd2f2f96eb rename barometer parameters to BARO prefix 2020-12-08 13:22:17 +11:00
Peter Barker
f4cbc50ba4 Copter: use an enumeration for pre-throw motor state 2020-12-08 12:04:14 +11:00
Peter Barker
bd0dff1b0e Copter: use enum-class and AP_Enum for ThrowType 2020-12-08 12:04:14 +11:00
murata
dcda0c48ca Copter: Support for decacopters 2020-12-08 11:59:10 +11:00
Andrew Tridgell
0329a46b4a ArduCopter: moved init_safety to AP_Vehicle 2020-12-08 11:14:24 +11:00
Peter Barker
dac5aca40e ArduCopter: move logging of LandingGear event into LandingGear 
Less code and Plane will get the event logged too.
 2020-12-05 20:45:20 +11:00
Randy Mackay
b8c58bd900 Copter: payload place fixups 2020-12-05 08:35:03 +09:00
Hwurzburg
e015956b6e Copter: move RETRACT_MOUNT option to common for all vehicles 2020-11-24 20:22:02 +11:00
Brent McLaughlin
04f817020f Copter: use glitch-protected range from rangefinder for precision landing 
use glitch protected result from rangefinder so precision landing avoids aggressive maneuvers due to large range spikes
 2020-11-24 13:00:41 +09:00
Gone4Dirt
434af4a4d4 Copter: Move AP_Generator to AP_Vehicle 2020-11-24 12:54:52 +11:00
Michael du Breuil
f9b4e81702 Copter: Add ignore pilot yaw to guided, auto and RTL options 2020-11-19 07:22:54 +09:00
Michael du Breuil
5e2093b105 Copter: Allow the user to specify the GCS failsafe timeout 2020-11-17 09:24:07 +09:00
Andy Piper
304d05f918 Copter: allow OSD for TX-only screens 2020-11-11 18:13:11 +11:00
Randy Mackay
0f234583d6 Copter: poshold clears wind est when disarmed or landed 2020-11-10 08:56:36 +09:00
Randy Mackay
ed7580e83c Copter: takeoff relaxes wpnav and pos control during spool up 2020-11-06 08:24:03 +09:00
Hwurzburg
83e1fe94d1 Copter: fix metadata in FS_GCS_ENABLE param 2020-11-06 08:23:31 +09:00
murata
f18585c584 Copter: Matches the minimum value of failsafe_throttle_value to the operation 2020-11-03 10:42:29 +09:00
Paul Riseborough
379506b718 ArduCopter: Don't request EKF yaw reset unless innovations are large 
This prevents unwanted resets if GPS fails.
 2020-10-30 14:45:40 +09:00
Rishabh
6e19eac9aa ArduCopter: remove nomination of system ids 2020-10-27 17:15:04 +11:00
Randy Mackay
50d9dcce9b Copter: 4.0.5 release notes 2020-10-27 09:13:43 +09:00
Peter Barker
225de23950 Copter: cope with race conditioning popping points on SmartRTL return 
There is a race with the cleanup thread.  While thin, it only has to
happen once.  After this patch the race would have to happen... a lot.

Co-authored-by: jasclarke308 <jasclarke308@gmail.com>
 2020-10-24 08:59:26 +09:00
Randy Mackay
248d80eb37 Copter: integrate ahrs::get_variances change 
offset is no longer returned
 2020-10-21 08:58:45 +09:00
Randy Mackay
ea7f850738 Copter: guide mode fix for takeoff in attitude control submode 
It was not possible to takeoff when thrust was provided instead of climb rate (which is used depends upon DEV_OPTIONS)
 2020-10-20 23:04:45 +09:00
Randy Mackay
7a90ed4bb5 Copter: auto allows arming casts param to uint32_t 2020-10-20 23:04:45 +09:00
Randy Mackay
9104b4800f Copter: correct GuidedOptions enum after peer review 
Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
 2020-10-20 23:04:45 +09:00
Randy Mackay
29fedff826 Copter: guided implementations moved to match declarations 
this should be a non-functional change
 2020-10-20 23:04:45 +09:00
Randy Mackay
5adf1d9596 Copter: guided mode angle controller sets auto-armed from run method 2020-10-20 23:04:45 +09:00
Randy Mackay
c1c9d87efe Copter: move auto allows_arming in mode_auto.cpp 
this should be a non-functional change
 2020-10-20 23:04:45 +09:00
Randy Mackay
ab42bbc43f Copter: guided mode velocity control can trigger takeoff 2020-10-20 23:04:45 +09:00
Randy Mackay
eb3aca7acf Copter: add GUIDED_OPTIONS to allow arming from transmitter 2020-10-20 23:04:45 +09:00
Randy Mackay
3ebfe502d3 Copter: 4.0.5-rc2 release notes 2020-10-08 09:15:56 +09:00
Randy Mackay
49e1e8cc16 Copter: integrate ahrs.pre_arm_check 2020-10-07 11:53:07 +11:00
Randy Mackay
eeaf135cca AP_Arming: integrate ahrs.pre_arm_check 2020-10-07 11:53:07 +11:00
Randy Mackay
1858fbe951 AP_Arming: correct proximity pre-arm check msg 2020-10-06 20:52:29 +11:00
Randy Mackay
5d31a443b6 Copter: update 4.0.5-rc1 release notes 2020-10-06 16:43:13 +09:00
Randy Mackay
8753d3cf8d Copter: 4.0.5-rc1 release notes 2020-10-06 16:43:10 +09:00
Randy Mackay
e2d41a3e04 Copter: integrate parachute check_sink_rate 
also move set_is_flying into check parachute to increase it's update rate
 2020-10-06 16:14:59 +11:00
Andrew Tridgell
dbf6f6f4b1 Copter: fixed parachute checks for sink rate 
ensure is_flying is set, setup sink rate at the right position, force
disarm if chute releases
 2020-10-06 16:14:59 +11:00
Peter Barker
c86ee44264 Copter: correct compilation when AFS enabled 2020-10-06 11:25:09 +11:00
Peter Barker
4136397810 Copter: correct compilation when CIRCLE mode is disabled 2020-10-06 11:25:09 +11:00
Peter Barker
af53f9ce64 Copter: correct compilation when AUTO/RTL are disabled 2020-10-06 11:25:09 +11:00
Peter Barker
56790625b8 Copter: stop passing unused inav into autorotate library 2020-10-01 21:13:20 +10:00
Randy Mackay
8b3cc0b255 Copter: fixup auto options 2020-10-01 08:48:06 +09:00
Michael du Breuil
50dfe3f197 Copter: Add AUTO_OPTIONS and support arming and throttle bypass 
This allows you to arm the copter without any extra GCS commands while
in auto, and can be done from both the GCS, or the RC Tx. This is useful
for creating a simpler workflow.

This also allows you to set the auto_armed flag internally, which
bypasses the need to raise the throttle stick for the copter to start a
takeoff.

This exposed a problem where we would start running the controllers
before the EKF was at all initialized, if you switched into auto to
early. This now has a check that prevents us from running the mission
state machine until after the origin has been set. This was a suggestion
from @rmackay9.

When combined these options allow you to have the vehicle on the ground,
disarmed in auto with a takeoff waypoint loaded, then just arm the
aircraft and watch it takeoff. This is a feature we've had on quadplanes
for quite awhile now, and it has proven to be very nice for operators.
 2020-10-01 08:46:29 +09:00
Peter Barker
b03b3041e0 Copter: remove stale MAGNETOMETER config option from config files 
This isn't used in the code any more
 2020-09-29 11:17:08 +10:00
Andy Piper
e22f7ed353 Copter: remove duplicate include 2020-09-24 08:22:16 -07:00
Patrick José Pereira
ec153f59a2 ArduCopter: Use new AP_FWVersionDefine header 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-09-23 20:58:35 +10:00
Tatsuya Yamaguchi
813bc2e08a Copter: replace message indicating that initialisation has completed 2020-09-22 09:52:52 +10:00
Andy Piper
b8f613c965 Copter: rename ADSB_ENABLED to HAL_ADSB_ENABLED and remove from config 2020-09-22 09:33:51 +10:00