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368 Commits

Author SHA1 Message Date
Randy Mackay d39581f996 Copter: replace use of TERRAIN_MARGIN with WPNAV_TER_MARGIN 2021-07-21 16:03:44 +09:00
Peter Barker 5f039ba06d Copter: fix build for lack of AC_TERRAIN define 2021-07-12 21:14:40 +10:00
Randy Mackay 7dcc5dd7ac Copter: add TERRAIN_MARGIN parameter 2021-07-10 20:25:05 +09:00
Randy Mackay 50d0592962 Copter: add GUID_TIMEOUT for guided mode vel, accel and angle control 2021-07-10 20:25:05 +09:00
Randy Mackay 1cafbe1e65 Copter: add configurable rangefinder filter 2021-06-16 18:54:13 +10:00
Randy Mackay 91fa40aea6 Copter: HAL_PROXIMITY_ENABLED replaces PROXIMITY_ENABLED 2021-03-26 16:22:46 +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
Tatsuya Yamaguchi 621fa857b7 Copter: disable RTL option 2021-01-13 17:19:19 +09:00
Tatsuya Yamaguchi b6b39673d4 Copter: remove PHLD_BRAKE_* params when PosHold is disabled 2021-01-07 11:41:08 +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
Pierre Kancir be2e243916 Copter: add initial mode parameter 2020-12-16 17:27:07 +09:00
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
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
Randy Mackay eb3aca7acf Copter: add GUIDED_OPTIONS to allow arming from transmitter 2020-10-20 23:04:45 +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
Siddharth Purohit 9b9954aa46 Copter: move to using CANManager library 2020-08-19 17:31:09 +10:00
Randy Mackay 925f76c048 Copter: integrate winch changes 
includes the following changes
winch_update called at 50hz
removed ability to set winch rate from ch6 tuning
remove wheel encoder
call winch library to log at 10hz
fix winch param prefix
 2020-08-07 21:55:07 +09:00
Andy Piper 12c9578a66 Copter: add in additional acro options 
Air-mode for multicopters
Rate only for multicopters and trad-heli
if air-mode aux switch is toggled in acro do not reset air-mode on exit
 2020-07-14 15:54:24 +09:00
Tatsuya Yamaguchi cde7ae246e Copter: add ZIGZ_AUTO_ENABLE parameter 2020-06-03 15:21:21 +09:00
Tatsuya Yamaguchi cee7e94ebc Copter: add zigzag_line_num parameter 2020-06-03 15:21:21 +09:00
Tatsuya Yamaguchi 7bc528097d Copter: support zigzag auto feature 2020-06-03 15:21:21 +09:00
Tatsuya Yamaguchi 60fb275501 Copter: rename zigzag_auto_pump to zigzag_sprayer 2020-06-03 15:21:21 +09:00
Tatsuya Yamaguchi 63002111eb Copter: add ZIGZAG_WP_DELAY parameter 2020-06-03 15:21:21 +09:00
Randy Mackay c4b5d47e1f Copter: white space fixes 2020-04-23 13:17:11 +09:00
Randy Mackay 04c3f040a8 Copter: visual odometry moved to AP_Vehicle 2020-04-09 19:41:08 +09:00
Tatsuya Yamaguchi 6b192de389 Copter: add ZIGZAG_AUTO_PUMP parameter 2020-02-19 19:56:56 +09:00
Andy Piper 93abfdb905 Copter: create generic vehicle management and move runcam to it 2019-12-30 13:02:04 +11:00
Randy Mackay ea22e888c7 Copter: improve RTL terrain following 
RTL_ALT_TYPE replaces TERRAIN_FOLLOW param
return path built using rangefinder or terrain database
pre-arm checks for RTL_ALT_TYPE parameter
pre-arm checks of terrain data only run if RTL might use it
 2019-12-17 20:02:01 +09:00
Peter Barker 544eb5f179 Copter: correct duplicate button instance 2019-12-10 09:29:52 +09:00
Gone4Dirt 180d4e713c Copter: Added autorotation flight mode and support 2019-11-29 08:06:10 +08:00
Matt Lawrence f71ef4c7ab Copter: Refactor failsafes, add fs_options bitmask parameter 
- Radio failsafe, battery failsafe, GCS failsafe refactoring
- Add new FS_OPTIONS parameter
- Enhance GCS Failsafe abilities
 2019-11-03 07:07:34 +08:00
Randy Mackay 7b0da89708 Copter: add vibration check 2019-10-18 11:15:25 +09:00
Leonard Hall c11f2247eb Copter: System ID mode 2019-10-16 08:17:09 +09:00
murata abb91fc33a Copter: Change external button specification to option 
Copter: Change the definition name from BUTTON to BUTTON_ENABLED.
 2019-10-08 08:09:19 +09:00
Peter Barker b4537bebd8 Copter: move control_mode_t into being Mode::Number enum class 
Fixes this compiler error:

In file included from ../../ArduCopter/sensors.cpp:1:
In file included from ../../ArduCopter/Copter.h:195:
../../ArduCopter/mode.h:1291:9: fatal error: declaration shadows a variable in the global namespace [-Wshadow]
        AUTO,           // after A and B defined, pilot toggle the switch from one side to the other, vehicle flies autonomously
        ^
../../ArduCopter/defines.h:38:5: note: previous declaration is here
    AUTO =          3,  // fully automatic waypoint control using mission commands
    ^
1 error generated.
 2019-09-13 13:12:08 +09:00
Randy Mackay 709c874d8b Copter: integrate AP_OAPathPlanner 2019-08-17 09:42:43 +09:00
Peter Barker 676d75c391 Copter: correct namespacing of Copter modes 
This makes us look like Rover and Plane in terms of namespacing for the
Mode classes, and removes a wart where we #include mode.h in the middle
of the Mode class.

This was done mechanically for the most part.

I've had to remove the convenience reference for ap as part of this.
 2019-06-11 09:18:22 +09:00
Peter Barker e5b25824eb Copter: remove unused takeoff_trigger_dz parameter 2019-04-09 08:15:39 +10:00
Randy Mackay a5bdd12bfa Copter: replace TUNE_LOW/HIGH params with TUNE_MIN/MAX 
change from uint16 to floats to ease setup
also add check that no function assigned to rc6
 2019-04-08 15:24:00 +09:00
Peter Barker 2040580ce7 Copter: move enabled parameter into compass library 2019-04-02 10:24:49 +11:00
Patrick José Pereira 33764d6c3b Copter: Fix typo 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2019-03-26 15:39:23 +11:00
Michael du Breuil cac4b91671 Copter: Allow scripting to run 2019-03-05 08:45:54 +11:00
Peter Barker b47733142f GLOBAL: rename DataFlash_Class to AP_Logger 2019-01-18 18:08:20 +11:00
Andrew Tridgell 89d54767b1 Copter: convert to use AC_AutoTune library 
this maintains existing behaviour
 2018-12-18 10:34:42 +09:00
SergeyBokhantsev af6303c82b Copter: User parameters implementation 2018-08-31 08:42:03 +09:00
Peter Barker e7e56dde7a Copter: move handling of RC switches into RC_Channel 2018-08-01 12:11:30 +09:00
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