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470 Commits

Author SHA1 Message Date
Iampete1 6561669213 Copter: support Auto RTL for failsafe events 2021-07-27 09:00:11 +09:00
Leonard Hall feae762e64 Copter: additional yaw modes and fixes 2021-07-10 20:25:05 +09:00
Peter Barker cdbf6d216e ArduCopter: remove HIL support 2021-06-15 09:47:31 +10:00
Pierre Kancir 3fb73d7e93 Copter: move SmartRTLState to SmartRTL class 2021-05-12 17:50:47 +10:00
Pierre Kancir 07632dc7ed Copter: move AutoMode to Auto class 2021-05-12 17:50:47 +10:00
Pierre Kancir 0fe10c6c57 Copter: make SmartRTLState an enum class 2021-05-12 17:50:47 +10:00
Pierre Kancir 4987e54247 Copter: make AutoMode an enum class 2021-05-12 17:50:47 +10:00
Randy Mackay 5fcd2de4fa Copter: attitude target thrust-as-thrust bit moved from DEV_OPTIONS to GUID_OPTIONS 2021-04-20 09:56:38 +10:00
Peter Barker 5df8dd8c50 Copter: move guided submode enumeration into ModeGuided 2021-04-14 16:12:57 +09:00
Peter Barker 65b1868863 Copter: move precision landing logging up into AC_PrecLand 2021-04-13 10:28:39 +10:00
Leonard Hall 328c0655e3 Copter: support for SCurves and position controller changes 
wp_start provides next_dest_loc
send next_destination to wp_nav instead of setting fast_waypoint
fixup zigzag for S-curve changes
fixup guided
auto spline fixes
smart rtl rename of next_point to dest_NED
loc_from_cmd accepts default location
auto mode stops before starting land command
auto do_next_wp accepts default location
rename do_next_wp to set_next_wp
also rename get_spline_from_cmd argument
also improve failure to set next waypoint due to missing terrain data
also fixup comment in set_next_wp
also auto stops when moving from straight to spline segments
also auto mode spline fix
also auto mode calls AC_WPNav::set_spline_destination_next

Copter: AutoYaw provides rate from WPNav
 2021-04-03 12:07:59 +09:00
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
Peter Barker 76e5ae9b41 Copter: move mavlink set-position defines into mavlink library 2020-08-11 09:52:52 +09:00
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
Randy Mackay 30c8d7bf40 Copter: dev option so set-attitude-target thrust field used as thrust 2020-08-01 08:32:23 +09:00
Andy Piper 8d2f2443a2 Copter: add air mode aux function 2020-06-16 20:30:26 +10:00
Randy Mackay d9ecf51457 Copter: auto mode loiter-turns accepts pilot yaw input 2020-04-27 09:39:46 +09:00
Randy Mackay f3989cae4c Copter: remove unused Ch6 EKF tuning options 2020-04-22 10:34:18 +09:00
Randy Mackay 39a6b104dd Copter: move RTLState to ModeRTL 2019-12-17 20:02:01 +09:00
Peter Barker 2296448027 Copter: make private enum class for LAND mode's state 2019-12-03 07:38:22 +08:00
Andrew Tridgell 68bb7a516b Copter: use HarmonicNotchDynamicMode enum class 2019-11-19 07:08:01 +08:00
Peter Barker e6c6189fe5 Copter: cope with change in namespace of LogEvent enum 
Also move Acro Trainer types into an enum class as the global defines
interfere with the Event names.

Also eliminate the Log_Write_Event wrappers.
 2019-11-05 08:19:26 +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
Andy Piper ac071df104 ArduCopter: add support for BLHeli telemetry-based updates to the harmonic notch 
refactor to include RPM for all copter types
 2019-10-31 11:18:40 +08:00
Michael du Breuil b42b1c08c4 Copter: Support new AP_Vehicle::set_mode 2019-10-25 08:48:22 +08:00
Randy Mackay 2cb3e446ab Copter: systemid mode formatting and name changes 2019-10-16 08:17:09 +09:00
Leonard Hall c11f2247eb Copter: System ID mode 2019-10-16 08:17:09 +09:00
Peter Barker 9b398e8765 Copter: remove stale enum entries for log message types 2019-09-18 15:02:57 +10:00
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
Peter Barker 08a18d6a0a Copter: avoid working with uninitialised home location 2019-05-29 09:04:37 +09:00
Peter Barker 85be2b0c8b Copter: clean up flip state enumerations 
... including a redundant definition of the states...
 2019-04-08 14:24:19 +09:00
Leonard Hall 38cc5a817f Copter: consolidate mode state decisions 
bnsgeyer and rmackay9 contributed to these changes

make_safe_shut_down waits for spool down before disarming
remove use of attitude_control::set_throttle_out_unstabilized to consolidate logic between multicopters and tradhelis
 2019-04-08 09:42:21 +09:00
Peter Barker c7e21d95ef Copter: move Log_Write_Error into library 2019-03-27 12:36:40 +11:00
Peter Barker 3521d98b52 Copter: move handling Write_Event into AP_Logger 2019-02-04 09:30:07 +09:00
Randy Mackay f24c7719ca Copter: remove unused error code and add comments 2019-01-08 19:42:32 +09:00
Andrew Tridgell 89d54767b1 Copter: convert to use AC_AutoTune library 
this maintains existing behaviour
 2018-12-18 10:34:42 +09:00
Pierre Kancir c50eed5e9a Copter: log and notify when manual land repositionning is active 2018-11-13 10:14:54 +09:00
Peter Barker 33ca577653 Copter: OpticalFlow takes care of its own logging 2018-11-13 10:40:23 +11:00
Peter Barker 72440e2af3 Copter: allow VFR_HUD.alt to be relative-alt if DEV_OPTIONS has bit 2 set 2018-11-06 11:26:38 +09:00
Peter Barker 7e581da1cf Copter: implement misson LOITER_TO_ALT 2018-10-30 17:50:46 +09:00
Leonard Hall 54a59f581f Copter: add motor thrust lost check 2018-10-16 00:44:50 +09:00
CAO MUQING 71beab7502 Copter: create and update Zigzag flight mode 2018-10-05 10:05:45 +09:00
Arjun Vinod 78be026d83 Copter: fixed typo 2018-08-29 09:36:58 +09:00
Peter Barker e7e56dde7a Copter: move handling of RC switches into RC_Channel 2018-08-01 12:11:30 +09:00
SergeyBokhantsev ea3de59107 Copter: implement user auxswitch functions 2018-07-26 20:27:49 +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
Peter Barker db60e93716 Copter: correct comment on deprecated switch option 2018-06-01 15:01:46 +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
Peter Barker 80549a479e Copter: move throw logging into ModeThrow 2018-04-17 17:16:52 +09:00