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48,200 Commits 71 Branches 509 Tags 714 MiB
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48200 Commits

Author SHA1 Message Date
Andrew Tridgell f3f1e72b0b Copter: Fix guided yaw bug. 
# Conflicts:
#	ArduCopter/GCS_Mavlink.cpp
 2021-07-23 10:19:48 +09:00
Peter Barker aa05bdde0f Copter: simplify throttle-is-unlimited check 
Now not the same pattern as the other checks - but it is much shorter
 2021-07-23 10:19:48 +09:00
Peter Barker e120b75aa4 Copter: wait for motors to spool up before trying to upright vehicle 
This stops us from progressing through the whole throw mode if the
vehicle just happens to be in the right state - which is can be for a
drop.
 2021-07-23 10:19:48 +09:00
Peter Barker b52ec7978b Copter: constify some ModeThrow methods 2021-07-23 10:19:48 +09:00
Andy Piper f2e22cf8e5 iomcu: update for pulse width changes 2021-07-23 10:19:48 +09:00
Andy Piper a9187a50cf AP_HAL_ChibiOS: only control widest pulse for dshot and oneshot 2021-07-23 10:19:48 +09:00
Tal Bass f4abb80aaf Copter: reset land_repo_active flag in RTL mode 2021-07-23 10:19:48 +09:00
Leonard Hall a765e266f4 AC_AttitudeControl: Allow yaw rate reset to be de-selected 2021-07-23 10:19:48 +09:00
Leonard Hall a066e1fcb1 Copter: Don't reset yaw rate when disarmed or ground idle in Heli Stab and Acro 2021-07-23 10:19:48 +09:00
Hwurzburg 4664ed6d7d RC_Channel: fix ELRS systems spamming CRSF mode/rate messages 2021-07-23 10:19:48 +09:00
Hwurzburg a09f38b195 AP_RCTelemetry: fix ELRS systems spamming CRSF mode/rate messages 2021-07-23 10:19:48 +09:00
Andy Piper 2ef5a9170e AP_RCTelemetry: correct firmware string length for CRSF 2021-07-23 10:19:48 +09:00
Randy Mackay 3777b8edec Copter: add TERRAIN_MARGIN parameter 2021-07-23 10:19:48 +09:00
Randy Mackay a582409377 Copter: add GUID_TIMEOUT for guided mode vel, accel and angle control 2021-07-23 10:19:48 +09:00
Leonard Hall f5a15dd85b Copter: Guided: move to zero velocity after takeoff 2021-07-23 10:19:48 +09:00
Leonard Hall 0ad493fdf7 Copter: Auto Yaw variable names and comments 2021-07-23 10:19:48 +09:00
Leonard Hall 703f09638f Copter: Guided Angle init Z controller on time out 2021-07-23 10:19:48 +09:00
Leonard Hall 82ba9e06a1 AC_WPNav: Remove unused function 2021-07-23 10:19:48 +09:00
Leonard Hall 23ec88e90a Copter: additional yaw modes and fixes 2021-07-23 10:19:48 +09:00
Leonard Hall 05f21d7665 AC_AttitudeControl: Add accessor for yaw slew limit 2021-07-23 10:19:48 +09:00
Leonard Hall 49da46af16 AC_AttitudeControl: AC_PosControl: support accel only input in the vertical 2021-07-23 10:19:48 +09:00
Leonard Hall 767e50eaa2 Copter: Guided: use default yaw mode for all gps based sub modes. 2021-07-23 10:19:48 +09:00
Leonard Hall 8f626623d8 Copter: Guided: stop aircraft if an invalid command is sent 2021-07-23 10:19:48 +09:00
Leonard Hall 452bf51c90 Copter: Guided: make aircraft stop on accel time out 2021-07-23 10:19:48 +09:00
Leonard Hall 3f7957418c Copter: Guided add terrain failsafe 2021-07-23 10:19:48 +09:00
Leonard Hall 6ff5913aa1 Copter: Guided: support terrain following 2021-07-23 10:19:48 +09:00
Leonard Hall b2032ee2e3 AC_AttitudeControl: AC_PosControl: support terrain following 2021-07-23 10:19:48 +09:00
Leonard Hall fa0442f565 Copter: Guided: fix waypoint track reporting 2021-07-23 10:19:48 +09:00
Leonard Hall b43f5cb2a3 Copter: Guided close gap between TARGET_LOCAL_NED and TARGET_GLOBAL_INT 2021-07-23 10:19:48 +09:00
Leonard Hall 4995add509 Copter: seperate kinimatic shaping from pid limit setting 2021-07-23 10:19:48 +09:00
Leonard Hall 029f5d23a4 Plane: seperate kinimatic shaping from pid limit setting 2021-07-23 10:19:47 +09:00
Leonard Hall e0ae24c428 Sub: seperate kinimatic shaping from pid limit setting 2021-07-23 10:19:47 +09:00
Leonard Hall d9c0670dcd AC_WPNav: seperate kinimatic shaping from pid limit setting 2021-07-23 10:19:47 +09:00
Leonard Hall 5f7607bbf0 AC_AttitudeControl: AC_PosControl: seperate kinimatic shaping from pid limit setting 2021-07-23 10:19:47 +09:00
Leonard Hall 72e23cfb8c Copter: Guided: use common initialisation 2021-07-23 10:19:47 +09:00
Leonard Hall 73a500db4d Copter: Guided prevent takeoff without takeoff command. 2021-07-23 10:19:47 +09:00
Leonard Hall 2075e2ffc4 AC_AttitudeControl: Add terain following to guided 2021-07-23 10:19:47 +09:00
Randy Mackay f79e20ab67 Copter: guided accepts terrain alt position targets 2021-07-23 10:19:47 +09:00
Randy Mackay d22f8fbc35 AC_WPNav: get_terrain_offset and get_vector_NEU made public 2021-07-23 10:19:47 +09:00
Leonard Hall 80b90a7ac3 AC_WPNav: move code to generate terrain following kinematic path 2021-07-23 10:19:47 +09:00
Leonard Hall d365a85c69 Sub: adjust for AttitudeControl library changes 2021-07-23 10:19:47 +09:00
Leonard Hall a71793efcf Tools: Autotest update guided bitbask to include acceleration 2021-07-23 10:19:47 +09:00
Leonard Hall 9244183798 AC_AttitudeControl: AC_PosControl: Support Accel only input 2021-07-23 10:19:47 +09:00
Leonard Hall 612b00ef00 AC_AttitudeControl: AC_PosControl: Change input_pos_xyz name 2021-07-23 10:19:47 +09:00
Leonard Hall e49f3d0fcf Copter: support for acceleration-based AttitudeControl 2021-07-23 10:19:47 +09:00
Andrew Tridgell cb14275e43 AP_Math: added test for SCurve::calculate_path 
this was the values shown in the core dump for failing guided mode
test in CI
 2021-07-23 10:19:47 +09:00
Andy Piper 35d34ee9ae AP_HAL_ChibiOS: re-enable LEDs on MatekF405-bdshot 2021-07-23 10:19:47 +09:00
Randy Mackay 0cbcb9dc91 AP_NavEKF3: EK3_RNG_USE_HGT param references EK3_SRCx_POSZ 2021-07-23 10:19:47 +09:00
Leonard Hall 85798e96c7 Copter: Correct yaw expo range limit 2021-07-23 10:19:47 +09:00
Andrew Tridgell 0e4e6b8075 autotest: adjust test_altitude_types for small change in longitude_scale 2021-07-23 10:19:47 +09:00