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87 Commits

Author SHA1 Message Date
Leonard Hall f5a15dd85b Copter: Guided: move to zero velocity after takeoff 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 23ec88e90a Copter: additional yaw modes and fixes 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 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 fa0442f565 Copter: Guided: fix waypoint track reporting 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 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
Randy Mackay f79e20ab67 Copter: guided accepts terrain alt position targets 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 bada2670a6 Copter: update for new double precision position APIs 2021-06-24 21:34:30 +10:00
Andrew Tridgell d89388c4cc Copter: use cleaned up APIs 2021-06-24 20:28:45 +10:00
Leonard Hall e294991b08 Copter: Fix before squash 2021-05-24 20:13:37 +10:00
Leonard Hall 4bae8f03a4 Copter: Use PosControl fixes 2021-05-24 20:13:37 +10:00
Leonard Hall 726074be91 Copter: Support Thrust Vector based navigation 2021-04-27 17:13:55 +09:00
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
Leonard Hall a29e2d8920 Copter: fix references to position error 2021-04-03 12:07:59 +09:00
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
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
Tatsuya Yamaguchi ed8384b45a Copter: add option to disable LANDING_GEAR 2021-03-17 10:41:11 +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 a88f2721a8 ArduCopter: Use auto enable and auto disable from AC_Fence 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
Mathias Bos b3b7f2d3d2 Copter: Remove yaw rate wrapping in guided mode. 2021-03-03 08:09:08 +09:00
Rishabh bd37eab3af Copter: Support 3D Simple Avoidance 2021-02-01 14:34:13 +09:00
Tatsuya Yamaguchi eab913646e Copter: fix ignore pilot yaw option for guided 2021-01-07 20:40:34 +09:00
Michael du Breuil f9b4e81702 Copter: Add ignore pilot yaw to guided, auto and RTL options 2020-11-19 07:22:54 +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 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 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 ab54f8805a Copter: guided mode checks dest before changing submode 2020-09-15 08:36:39 +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
Randy Mackay dcbbd047b4 Copter: simplify guided mode takeoff using rangefinder 2020-04-23 15:01:46 +09:00
Tatsuya Yamaguchi 29dcbd1398 Copter: use rangefinder to takeoff altitude in guided mode 2020-04-23 15:01:46 +09:00
Randy Mackay db2229f684 Copter: ModeGuided::do_user_takeoff_start arg rename 
this makes it more consistent with the method it is overriding
 2020-03-19 15:17:11 -07:00
Randy Mackay 8d99f204b0 Copter: integrate landing gear option and make edge based 
also guided mode now retracts landing gear after takeoff
previously landing gear deployment was "level based" meaning the pilot could not override the gear's position
 2020-02-26 08:01:00 +09:00
Sachchit Vekaria f6125b26e8 Copter: Allowing Terrain Following in Guided Mode 
Uses frame type of MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT message to decide the value of terrain_alt boolean.
 2020-02-17 14:42:42 +09:00
Bogdan Grigoruta 5183703243 Copter: move Mode::auto_takeoff_run to takeoff.cpp 2019-11-18 09:14:08 +09:00
Randy Mackay de5945bea5 Copter: use const reference when retrieving wpnav destination 2019-11-12 08:50:05 +08:00
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