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655 Commits

Author SHA1 Message Date
Peter Barker 9e8af48cce ArduCopter: move some common init_ardupilot code up to AP_Vehicle 2020-01-28 11:34:51 +11:00
Peter Barker debedd9d34 Copter: move setup method up to AP_Vehicle base class 2020-01-28 11:34:51 +11:00
Peter Barker 9466126fa8 Copter: let AP_Vehicle base class worry about scheduler delay callback 2020-01-21 11:37:28 +11:00
Andrew Tridgell 4445313661 Copter: fixed build warnings 2020-01-18 17:19:07 +11:00
Andrew Tridgell 1fae2009db Copter: update for new SRV_Channels parameter conversion call 2020-01-14 14:23:11 +11:00
Tatsuya Yamaguchi e01e924711 Copter: allow scripts to get modes 2020-01-14 11:16:29 +11:00
bnsgeyer 64f98622c0 Copter: fix tradheli RSC RC passthrough mode 
Copter: heli get_pilot_desired_rotor_speed converts interlock input to desired rotor speed
 2020-01-09 19:55:02 +09:00
Peter Barker 1ff07762de Copter: remove report_compass method 
This wasn't actually responsible for saving offsets any more.

The data spewed out was rather unlikely to be seen, and will be present
in logs anyway.
 2020-01-04 10:46:51 +09:00
Peter Barker 2694560c38 Copter: generally unseen remove report_version 
This won't generally be seen or useful to anyone
 2020-01-04 10:46:51 +09:00
Peter Barker 326a569ea8 Copter: remove dangling read_control_switch method declaration 2020-01-02 10:13:35 +09:00
Randy Mackay 3e7fb66a77 Copter: precision landing does not use terrain database 
precision landing was always only using the range finder, there was no use of the provided alt unless the rangefinder was good
 2019-12-17 20:02:01 +09:00
Randy Mackay f768e80458 Copter: remove unused prev_control_mode_reason 2019-12-12 09:13:24 +09:00
Peter Barker 544eb5f179 Copter: correct duplicate button instance 2019-12-10 09:29:52 +09:00
Peter Barker 62869b5be8 Copter: vehicle parent class now instantiates AHRS 2019-12-02 09:16:22 +11:00
Gone4Dirt 180d4e713c Copter: Added autorotation flight mode and support 2019-11-29 08:06:10 +08:00
Randy Mackay adc1d60ea5 Copter: CTUN logging fix for SAlt 
sonar altitude was not being logged in modes that don't use surface tracking including Auto
SAlt scaling was also incorrect
 2019-11-12 09:10:21 +08:00
Peter Barker 201adb6818 Copter: correct Heli compilation when some modes are disabled 2019-11-06 16:36:35 +11:00
Peter Barker 38d3c2daa1 Copter: stop providing current location to mount 2019-11-05 19:55:45 +11:00
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
Peter Barker b6920e14c8 Copter: remove redundant SurfaceTracking enumeration namespacing 
Also rename State to Surface to be more specific about what is being
set/tracked.
 2019-10-26 08:08:22 +08:00
Michael du Breuil b42b1c08c4 Copter: Support new AP_Vehicle::set_mode 2019-10-25 08:48:22 +08:00
Randy Mackay 7b0da89708 Copter: add vibration check 2019-10-18 11:15:25 +09:00
Leonard Hall 50a098c359 Copter: Standby functions 2019-10-17 14:57:18 +09:00
Leonard Hall c11f2247eb Copter: System ID mode 2019-10-16 08:17:09 +09:00
Randy Mackay 36327d56de Copter: reject reboot request from GCS if auto esc cal on next reboot 
this resolves an edge case in which the motors could spin up on the next reboot because the user didn't unplug the battery to reboot the flight controller
 2019-10-15 07:41:44 +09:00
Andy Piper 8ce7f02167 ArduCopter: add functions to update dynamic notch frequency. Periodically log the frequency. 
tradheli- make RPM sensor input to harmonic notch in hertz
 2019-10-10 20:26:02 +09:00
Peter Barker 9e5d5c023c Copter: move many members up to base class 2019-10-08 11:26:04 +11:00
Peter Barker 95f81297d9 Copter: become an AP_Vehicle 2019-10-08 11:26:04 +11:00
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
Randy Mackay 1c4f47f882 Copter: add upward facing surface tracking 2019-09-28 11:13:14 +09:00
Randy Mackay d5d7fbe761 Copter: rangefinder glitch detection moved to read_rangefinder 2019-09-28 11:13:14 +09:00
Randy Mackay 808efa4c79 Copter: surface tracking format fixes 2019-09-28 11:13:14 +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 4fa83ed40d Copter: move automatic declination setting into AP_Compass itself 2019-08-13 10:02:13 +10:00
Peter Barker c0e8d319c6 Copter: make surface tracking adjust_climb_rate take a float 
Its callers all pass in floats and we return a float, so stop going via
an int16_t
 2019-08-06 14:09:09 +09:00
Peter Barker b0428f0fe8 Copter: make surface_tracking a class, various functions methods 2019-08-06 14:09:09 +09:00
Peter Barker 97bb846310 Copter: RangeFinder uses AP_SerialManager singleton 2019-07-16 09:29:48 +10:00
Peter Barker 9412075b9c Copter: avoidance no longer takes ahrs in constructor 2019-07-16 09:29:48 +10:00
Peter Barker e977fce3ad Copter: stop passing relay and ahrs into camera constructor 2019-07-09 09:32:39 +10:00
Peter Barker 05925b57ad Copter: mark position_ok methods as const 2019-07-09 09:26:45 +10:00
Peter Barker eb82126758 Copter: ServoRelayEvents uses Relay singleton 2019-07-03 23:59:24 -07:00
Peter Barker cf45108efb Copter: set Heli frame default at compile-time 2019-07-04 10:05:01 +09:00
Peter Barker bb3d2a0b37 Copter: pass GCS_MAVLink object rather than channel number in motortest 2019-07-02 10:04:56 +10:00
Peter Barker f3c1791341 Copter: stop passing gcs chan into method which wants an object 2019-06-25 09:45:54 +10:00
Michael du Breuil df37a3d603 Copter: Remove wrapper around MAVLink send heartbeat 2019-06-18 13:59:52 +01:00
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 9f6b48b743 Copter: remove unneeded initialisation 2019-06-03 16:48:38 +09:00
Peter Barker 6dce39cbe1 Copter: use AP_Arming methods to arm and disarm vehicle 
Really just changing the namespace of init_arm_motors
 2019-05-30 07:37:30 +09:00
Peter Barker 3ef84d2b96 Copter: stop passing references to AC_Avoid constructor 2019-05-22 07:48:02 -06:00
Randy Mackay 01909cf4c8 Copter: zigzag mode gets terrain following support 2019-04-19 07:45:52 +09:00
Randy Mackay 89eb876faf Copter: move surface tracking variables into structure 2019-04-19 07:45:52 +09:00
Randy Mackay 33a57361bd Copter: reduce args passed to get_surface_tracking_climb_rate 
The same arguments are always passed in
 2019-04-19 07:45:52 +09:00
Pierre Kancir 4f29d2e5a6 Copter: factorize esc calibration setup 2019-04-09 08:44:46 +09:00
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
bnsgeyer d949c80d54 Copter: tradheli replaces rotor_runup_complete with spool state 2019-04-08 09:42:21 +09:00
Michael du Breuil d1246f5868 Copter: Fix RangeFinder init 2019-04-06 09:15:22 +11:00
Michael du Breuil 0e8c3dc485 Copter: include FWversion 2019-04-05 20:12:53 +11:00
Peter Barker 2040580ce7 Copter: move enabled parameter into compass library 2019-04-02 10:24:49 +11:00
Tom Pittenger 7824b64ad6 Copter: rename dataflash to logger 2019-03-28 16:40:57 +11:00
Peter Barker 8441542a52 Copter: remove climb_rate cache of inertial_nav.get_velocity_z 
There were only two users of it and dozens of places using
get_velocity_z
 2019-03-28 12:10:31 +11:00
Peter Barker c7e21d95ef Copter: move Log_Write_Error into library 2019-03-27 12:36:40 +11:00
Peter Barker 34d9ce27af Copter: make get_pilot_desired_throttle a method on Mode 2019-03-26 20:57:15 +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
bnsgeyer 2fc942ac24 Copter: tradheli-convert swash parameters on firmware upgrade 2019-03-20 10:40:20 +10:00
Peter Barker 451f5f17ce Copter: move devo telemetry handling to GCS 2019-03-19 14:39:14 +11:00
Peter Barker e22b29bce4 Copter: FrSky support has moved to GCS 2019-03-19 14:39:14 +11:00
Peter Barker 85d9dd6f64 Copter: move sending of RPM message up 2019-03-16 10:33:01 +09:00
Peter Barker f189860162 Copter: use enum class for ArmingMethod and ArmingRequired 2019-03-12 19:48:14 +11:00
Peter Barker 4f69eefd4a Copter: remove unused includes 2019-03-05 13:19:29 +09:00
Michael du Breuil cac4b91671 Copter: Allow scripting to run 2019-03-05 08:45:54 +11:00
IamPete1 ba3d1bc6c7 Copter: move E-stop state to SRV_Channel 2019-02-27 08:51:24 +09:00
Peter Barker a48f461158 Copter: remove position-vector methods 
Both were used in just one place
 2019-02-26 14:09:21 +11:00
Peter Barker 4187243e5c Copter: Rally no longer takes ahrs in constructor 2019-02-20 18:03:38 +11:00
Peter Barker 5ff80e06d1 Copter: move update_sensor_status_flags into GCS subclasses 2019-02-19 14:09:59 +11:00
Peter Barker f759c7ac7e Copter: GCS_MAVLink takes care of mavlink capabilities 2019-02-19 13:14:52 +11:00
Peter Barker 9bc23d3f28 Copter: move try_send_message of nav_controller_output up 2019-02-19 10:08:00 +11:00
Peter Barker f64ad2f433 Copter: move visual odometry update function into AP_VisualOdom 2019-02-16 15:13:59 +11:00
Peter Barker 31f796f0c5 Copter: remove unused scaleLongDown member 2019-02-15 11:45:13 +09:00
Peter Barker 5ae52038fa Copter: make setting of home boolean in preparation for sanity checks 2019-02-15 08:28:45 +11:00
Peter Barker 8de7f4a520 Copter: devo telemetry no long requires singleton classes to be passed in 2019-02-13 19:24:07 +00:00
Peter Barker a0189d6060 Copter: AP_Frsky_Telem uses singletons 2019-02-12 17:53:23 +00:00
Peter Barker 587e02e92e Copter: remove pv_ functions that duplicate Location functions 2019-02-06 11:02:50 +09:00
Peter Barker 7197cf9e5c Copter: move sending of sys_status message up 2019-02-05 11:07:39 +11:00
Peter Barker 3521d98b52 Copter: move handling Write_Event into AP_Logger 2019-02-04 09:30:07 +09:00
Peter Barker 1412921561 Copter: move sending of fence_status message up 2019-01-31 13:44:29 +09:00
Peter Barker 5dc743f1ba Copter: fence no longer takes reference to ahrs in constructor 2019-01-31 11:25:38 +09:00
Peter Barker b47733142f GLOBAL: rename DataFlash_Class to AP_Logger 2019-01-18 18:08:20 +11:00
Peter Barker 845f015648 Copter: adjust for Location_Class and Location unification 2019-01-16 11:45:29 +11:00
Randy Mackay 50c5ad7076 Copter: TradHelis force spool up before takeoff 2019-01-15 11:41:44 +09:00
Peter Barker f50418f72a Copter: Terrain uses rally singleton 2019-01-09 10:14:16 +11:00
Michael du Breuil ec8a82e8a0 Copter: Remove unneeded AP_Buffer include 2018-12-31 11:41:43 +09:00
Andrew Tridgell 89d54767b1 Copter: convert to use AC_AutoTune library 
this maintains existing behaviour
 2018-12-18 10:34:42 +09:00
Francisco Ferreira a2fa63bcf7 Copter: fix Cygwin build 
Static initialization doesn't have an exact order, we can't rely on it
 2018-12-13 09:28:44 +09:00
Peter Barker 75fb9780f7 Copter: rename send_extended_status1 to send_sys_status 2018-12-10 12:52:41 +09:00
murata b252eae404 Copter: Flip mode is an option. 
Copter: Flip mode is an option.
 2018-11-26 09:29:47 +09:00
Peter Barker d49431488e Copter: remove pointless wrappers around RC_Channels functions 2018-11-23 10:56:17 +11:00
Peter Barker ee5339f931 Copter: remove pointless wrappers around gcs functions 2018-11-23 10:56:17 +11:00
Peter Barker 33ca577653 Copter: OpticalFlow takes care of its own logging 2018-11-13 10:40:23 +11:00
Peter Barker ee456e8870 Copter: do not pass ahrs to opticalflow constructor 2018-11-13 10:40:23 +11:00
Andrew Tridgell 2f79932611 Copter: auto-convert landing gear PWM parameters 2018-11-10 21:24:19 +11:00
Peter Barker 73940df48e Copter: move mission into mode_auto 2018-11-09 13:35:40 +09:00
Peter Barker bf1c82ffe1 Copter: don't pass ahrs to terrain constructor 2018-11-08 20:59:45 +11:00
Peter Barker f598cff99c Copter: stop passing ahrs to Mission constructor 2018-11-08 10:01:16 +09:00
Peter Barker 1d322046b0 Copter: tidy up send_pid_tuning 2018-11-06 08:19:15 +09:00
Peter Barker 859f4828a1 Copter: move handling of gimbal messages up 
Copter: move handling of mav_cmd_do_mount_control up

Copter: move handling of deprecated mount messages up

Copter: move handling of command_do_set_roi up

Copter: move handling of command_do_set_roi up

Copter: mount no longer takes ahrs in constructor
 2018-10-30 17:19:14 +11:00
Leonard Hall 54a59f581f Copter: add motor thrust lost check 2018-10-16 00:44:50 +09:00
Peter Barker 26ca75efae Copter: make libraries get EKF control limits themselves 2018-10-09 10:47:38 +11:00
CAO MUQING 71beab7502 Copter: create and update Zigzag flight mode 2018-10-05 10:05:45 +09:00
Peter Barker a30cdf6806 Copter: eliminate failsafe.rc_override_active 
Use RC_Channels::has_active_overrides() instead
 2018-09-05 11:54:32 +10:00
Peter Barker ec6c59faa3 Copter: move handling of disable-gcs-rc-overrides-channel-option up 2018-09-05 11:54:32 +10:00
SergeyBokhantsev af6303c82b Copter: User parameters implementation 2018-08-31 08:42:03 +09:00
Randy Mackay 920300899e Copter: rename gcs_check_input to gcs_update 
this makes the names consistent with Rover and Plane
 2018-08-24 15:30:50 +09:00
Peter Barker 09d8a33aaf Copter: stop passing ahrs to PrecLand constructor 2018-08-17 21:14:57 +09:00
Alexander Malishev f5c540a127 Copter: publish navigation info to OSD 2018-08-16 10:26:34 +10:00
Randy Mackay 346e9e36db Copter: remove compass accumulate 2018-08-06 11:05:34 +10:00
Peter Barker e7e56dde7a Copter: move handling of RC switches into RC_Channel 2018-08-01 12:11:30 +09:00
Peter Barker 22f7f29045 Copter: move all of waypoint-takeoff into Mode namespace 2018-07-27 13:08:27 +10:00
SergeyBokhantsev ea3de59107 Copter: implement user auxswitch functions 2018-07-26 20:27:49 +09:00
Peter Barker f06637d48e Copter: update servorelayevents @50Hz rather than 3Hz 
One of the functions we allow for is toggling the servo at a set
frequency.  3Hz - the old rate - doesn't allow for precise triggering of
the servo.  This patch increases that rate to 50Hz - somewhat better.
 2018-07-20 09:42:58 +09:00
Michael du Breuil 3755b2ac0f Copter: Remove unused ADC include 2018-07-17 09:29:50 +10:00
Peter Barker c2f9b857a4 Copter: remove unused baro_climbrate variable 2018-07-04 21:08:47 +01:00
Peter Barker df83cb034e Copter: use ArmingMethod enumeration 2018-07-03 15:16:38 +10:00
Peter Barker a1f29e92d1 Copter: use singletons in AP_Arming 2018-07-03 13:44:11 +10:00
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
Peter Barker 7883582c65 Copter: move takeoff state into Mode class 2018-06-26 09:11:21 +09:00
Peter Barker cff1969a29 Copter: make do_user_takeoff a member of Mode 2018-06-26 09:11:21 +09:00
Peter Barker cb26ff64b3 Copter: current_mode_has_user_takeoff -> Mode::has_user_takeoff 2018-06-26 09:11:21 +09:00
Peter Barker 70d159cb38 Copter: raise EKF failure even if USB is connected 
This will let EKF go bad if your PixHawk is connected to your laptop.
This doesn't seem to be a problem for the other vehicles.

This also allows the EKF to go bad in-flight if you happen to have
connected (against AP's recommendations) your companion computer to your
flight controller via USB.  Since people do this, it is better to have
the checks than not.
 2018-06-26 10:07:55 +10:00
Peter Barker fd9ce90b8e Copter: option to force arm, bypassing checks 2018-06-20 11:43:38 +10:00
murata a970eacf49 Copter: Do not use the Delay method wrapper. 2018-06-16 09:40:47 +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 ab68e4fe8b Copter: log quiet-nan for rangefinder-desired-alt when not using it 2018-06-06 08:33:56 +09:00
Peter Barker e3ddf7dadd Copter: rename SPRAYER-enabled-define to SPRAYER_ENABLED 2018-06-01 15:13:05 +09:00
Peter Barker 5f2221fe74 Copter: move handling of VFR_HUD into GCS_MAVLink_Copter 2018-05-29 13:00:40 +10:00
Andrew Tridgell 2425c65e74 Copter: implement 'air-mode' for copter 
this implements what betaflight calls 'air-mode'. This gives attitude
control when throttle is at zero, allowing for zero-throttle maneuvers,
plus keeping the copter level on the ground.

This was already implemented if an interlock switch was setup, but it
should also work with an arming switch. If using an arming switch then
throttle should not be considered zero as long as the arming switch
hasn't gone low.
 2018-05-29 10:27:14 +09:00
Andrew Tridgell 0d56526400 Copter: added de-bouncing of aux switches 
this prevents a crash with a switch such as arm/disarm getting a
single frame RC glitch
 2018-05-29 08:26:46 +09:00
Peter Barker 81e9edd80a Copter: move sending of sim state up 2018-05-23 18:36:50 +10:00
Peter Barker 33582107b6 Copter: move sending of GLOBAL_POSITION_INT up to GCS_MAVLINK 2018-05-17 15:48:06 +01:00
Peter Barker da1b2579c4 Copter: move send_attitude up to GCS_MAVLINK 2018-05-17 18:28:43 +10:00
Peter Barker 9dce133938 Copter: handle setting of ekf origin in GCS_MAVLink 2018-05-17 10:13:42 +10:00
Peter Barker 0dc0e54767 Copter: move Log_Write_Home_And_Origin into AP_AHRS 2018-05-17 10:13:42 +10:00
Leonard Hall 656892cd88 Copter: ekf failsafe disabled for acro and stabilize 
Also restructure to combine ekf_over_threshold and ekf_check_position_problem
 2018-05-10 08:59:37 +09:00
Peter Barker dee40f3fe5 Copter: make scheduler track whether it has called the delay callback 2018-05-09 16:15:38 +10:00
Peter Barker 6dd9f50f7c Copter: move try_send_message handling of RC_CHANNELS up 2018-05-08 12:33:32 +01:00
night-ghost 51a189e906 ArduCopter: devo telemetry support (RX705/707) 2018-04-24 10:44:28 +10:00
Peter Barker ba8b3e2415 Copter: create an AutoYaw helper object to hold auto-yaw state 2018-04-18 13:27:43 +09:00
Pierre Kancir 70805d61f2 ArduCopter: remove inertial_nav from precland constructor 2018-04-17 17:21:35 +09:00