Robert Lefebvre
5cc4f41d85
Copter: Helicopter: to use new Stab_Col and Acro_Col functions.
2015-11-12 19:37:23 +09:00
Robert Lefebvre
34fb600c4f
Copter: Utilize Input Manager Class
2015-11-12 19:37:22 +09:00
Robert Lefebvre
afcc304cbf
AC_InputManager: Initial class creation
2015-11-12 19:37:21 +09:00
Robert Lefebvre
7ad623dc70
Copter: Helicopter, fix so servos move after arming in Acro and Stabilize.
2015-11-12 19:37:16 +09:00
Robert Lefebvre
2632a2e348
Copter: Rework arming proceedures for interlock/Estop
...
to fix race condition.
2015-11-12 19:37:15 +09:00
Jonathan Challinger
6524222397
Copter: adapt auto disarm check to use a timer
2015-11-09 15:34:41 +09:00
Jonathan Challinger
05e533e6fc
Copter: don't accept disarm commands in stabilize and acro unless also landed
2015-11-07 11:07:14 +09:00
lvale
549695181c
Copter: revised and uniformization of severity messages
2015-11-05 12:20:49 +09:00
Randy Mackay
420b1ca715
Copter: minor comment and order change to takeoff
...
No functional change
2015-11-04 20:49:25 +09:00
Jonathan Challinger
082c1f77fb
Copter: soften takeoff
2015-11-04 20:49:22 +09:00
Lucas De Marchi
030fd046c7
ArduCopter: remove check for MAVLINK_COMM_NUM_BUFFERS
2015-11-04 12:14:15 +11:00
Lucas De Marchi
e0639ac029
ArduCopter: remove check for AVR CPUs
...
Remove the checks for HAL_CPU_CLASS > HAL_CPU_CLASS_16 and
HAL_CPU_CLASS >= HAL_CPU_CLASS_75. Corresponding dead code will be
removed on separate commits.
2015-11-04 12:14:15 +11:00
Lucas De Marchi
3e889b005f
ArduCopter: remove checks for HAL_BOARD_APM2 and HAL_BOARD_APM1
2015-11-04 12:14:13 +11:00
Andrew Tridgell
99b448d1bb
Copter: make EV log messages critical
...
these should be a high priority
2015-11-02 20:29:10 +11:00
Lucas De Marchi
f4e71affa1
ArduCopter: fix wrong printf format for 32 bits
...
Heading is a 32 bits value, so use %u.
2015-10-30 14:35:36 +09:00
Lucas De Marchi
e9b6c76454
ArduCopter: fix wrong printf format for 32 bits
...
"micros() - before" doesn't return a long value. Use "%u".
2015-10-30 14:35:34 +09:00
Lucas De Marchi
c397e550e2
ArduCopter: fix warning due to wrong type
...
"%s" expects a string. This works since the string in the struct is the
first member so it's harmless.
2015-10-30 14:35:33 +09:00
Lucas De Marchi
5244559010
Minimize AP_Progmem.h includes
...
Most of AP_Progmem is already gone so we can stop including it in most
of the places. The only places that need it are the ones using
pgm_read_*() APIs.
In some cases the header needed to be added in the .cpp since it was
removed from the .h to reduce scope. In those cases the headers were
also reordered.
2015-10-30 14:35:32 +09:00
Lucas De Marchi
1b07dabeb7
Replace prog_char and prog_char_t with char
...
prog_char and prog_char_t are now the same as char on supported
platforms. So, just change all places that use them and prefer char
instead.
AVR-specific places were not changed.
2015-10-30 14:35:30 +09:00
Lucas De Marchi
4ab9821624
Replace use of Log_Write_Message_P() with Log_Write_Message()
2015-10-30 14:35:28 +09:00
Lucas De Marchi
20c6ffc5e3
Replace use of UARTDriver::printf_P() with UARTDriver::printf()
...
This also starts to show warnings on places that were already using
wrong printf format strings.
2015-10-30 14:35:25 +09:00
Lucas De Marchi
6f4904189b
Replace use of println_P() with println()
2015-10-30 14:35:22 +09:00
Lucas De Marchi
a964ac38ec
Replace use of print_P() with print()
2015-10-30 14:35:21 +09:00
Lucas De Marchi
89fc4f4b62
Replace use of send_text_P() with send_text()
2015-10-30 14:35:17 +09:00
Lucas De Marchi
831d8acca5
Remove use of PROGMEM
...
Now variables don't have to be declared with PROGMEM anymore, so remove
them. This was automated with:
git grep -l -z PROGMEM | xargs -0 sed -i 's/ PROGMEM / /g'
git grep -l -z PROGMEM | xargs -0 sed -i 's/PROGMEM//g'
The 2 commands were done so we don't leave behind spurious spaces.
AVR-specific places were not changed.
2015-10-30 14:35:16 +09:00
Lucas De Marchi
6f0db45b57
Replace use of strcasecmp_P() with strcasecmp()
2015-10-30 14:35:08 +09:00
Lucas De Marchi
84da1f5039
Rename gcs_send_text_P to gcs_send_text
2015-10-30 14:35:07 +09:00
Lucas De Marchi
84d5fb006f
Remove use of Util::{v,}snprintf_P()
...
These are now the same function as Util::snprintf().
2015-10-30 14:35:05 +09:00
Lucas De Marchi
2c38e31c93
Remove use of PSTR
...
The PSTR is already define as a NOP for all supported platforms. It's
only needed for AVR so here we remove all the uses throughout the
codebase.
This was automated with a simple python script so it also converts
places which spans to multiple lines, removing the matching parentheses.
AVR-specific places were not changed.
2015-10-30 14:35:04 +09:00
Randy Mackay
606a0e0d0b
Copter: set jerk to default for circle and guided
2015-10-29 12:10:49 +09:00
Leonard Hall
411e75b917
Copter: feed forward only used for AltHold, Loiter, PosHold
...
land modes use non-feedforward alt hold
2015-10-28 20:21:54 +09:00
Randy Mackay
b49fda4a94
Copter: remove rotor spinning arming check from TradHeli
2015-10-27 09:14:39 +09:00
Jonathan Challinger
da3961e4a6
Copter: support MAV_CMD_DO_SEND_BANNER
2015-10-26 16:28:57 +09:00
Randy Mackay
02c4fdf519
Copter: 3.3.1 release notes
2015-10-26 11:32:28 +09:00
Jonathan Challinger
5486be34b1
Copter: use configured function to determine if heli_servo_rsc has been configured
2015-10-26 11:15:54 +11:00
Jonathan Challinger
28f55766fd
Copter: use configured to check whether radio has been calibrated
2015-10-26 11:15:54 +11:00
Caio Marcelo de Oliveira Filho
bf6d1afd59
ArduCopter: include SITL only for SITL board
...
Include board-specific files only when the board is used. Since these
should be exceptional cases, let the includer handle the ifdef instead
of putting ifdefs in every platform-specific header.
In the future we should evaluate whether the HAL for the board should
instantiate this.
2015-10-22 13:36:14 -02:00
Caio Marcelo de Oliveira Filho
49a42dc985
SITL: use a SITL namespace
2015-10-22 11:04:42 -02:00
Caio Marcelo de Oliveira Filho
05ae7858e8
Copter: explicitly ask for always using EKF
...
When instantiating AP_AHRS_NavEKF for ArduCopter, explicitly pass the
flag to always use the EKF.
The motivation is to move vehicle specifc code out of the general
libraries. This patch shouldn't change behavior.
2015-10-21 11:01:11 +11:00
Peter Barker
080c31c15e
Copter: use simple log entry numbers to download logs
2015-10-21 10:50:32 +11:00
Lucas De Marchi
09f185eb5e
ArduCopter: remove check for max INS instances
...
For all supported boards the maximum number of instances is 3.
2015-10-21 10:05:17 +11:00
Caio Marcelo de Oliveira Filho
3e3f13659d
ArduCopter: implement HAL::Callbacks
...
Also removes includes for each board since they are not necessary
anymore.
2015-10-21 09:16:09 +11:00
Caio Marcelo de Oliveira Filho
ec52df991c
build: compile only the HAL files needed by the board
...
Instead of requiring every program to specify the HAL related modules,
let the build system do it (in practice everything we compiled depended
on HAL anyway). This allow including only the necessary files in the
compilation.
2015-10-21 09:16:07 +11:00
Caio Marcelo de Oliveira Filho
2e464a53c2
AP_HAL: make code not depend on concrete HAL implementations
...
The switching between different AP_HAL was happening by giving different
definitions of AP_HAL_BOARD_DRIVER, and the programs would use it to
instantiate.
A program or library code would have to explicitly include (and depend)
on the concrete implementation of the HAL, even when using it only via
interface.
The proposed change move this dependency to be link time. There is a
AP_HAL::get_HAL() function that is used by the client code. Each
implementation of HAL provides its own definition of this function,
returning the appropriate concrete instance.
Since this replaces the job of AP_HAL_BOARD_DRIVER, the definition was
removed.
The static variables for PX4 and VRBRAIN were named differently to avoid
shadowing the extern symbol 'hal'.
2015-10-21 09:16:07 +11:00
Randy Mackay
3f9d62d6b4
Copter: 3.3.1-rc1 release notes
2015-10-20 16:00:41 +09:00
Randy Mackay
1858a0544f
Copter: guided takeoff checks auto-armed status
...
This resolves an edge case in which the vehicle could takeoff with auto-armed false
2015-10-20 15:51:55 +09:00
Paul Riseborough
75a61df627
Copter: Enable access to EKF2 height tuning
2015-10-20 15:21:38 +11:00
Paul Riseborough
d0aba09503
Copter: Access EKF healthy through AHRS object
...
Enables EKF2 use
2015-10-20 15:21:38 +11:00
Paul Riseborough
19785c1033
Copter: Access EKF origin through AHRS object
...
Enables EKF2 use
2015-10-20 15:21:38 +11:00
Paul Riseborough
7c6b31b585
Copter: Access EKF variance checks through AHRS object
...
Supports flight using EKF2
2015-10-20 15:21:38 +11:00
Randy Mackay
d03489263d
Copter: remove gyro cal on first arming
2015-10-19 12:00:41 +09:00
Jonathan Challinger
598925f8d2
Copter: EKF failsafe action always Land if RC failsafe active
2015-10-18 10:06:05 +09:00
José Roberto de Souza
c581a702a0
ArduCopter: Fix typo: auxiliar to auxiliary
2015-10-16 10:16:24 +11:00
Gustavo Jose de Sousa
fb5320bb25
ArduCopter: use compass get_{field,offsets}() functions
...
Both functions are equivalent, so we're going to simply use
get_{field,offsets}() instead of get_{field,offsets}_milligauss().
2015-10-15 19:56:05 +09:00
Randy Mackay
9b80ab18ae
Copter: position_ok when optical flow ok
...
Previously the GPS based absolute position was required
This allows using optical flow in all flight modes
2015-10-14 12:01:41 +09:00
vooon
f3cbbef418
Copter: fix guided attitude type_mask check
2015-10-10 22:04:51 +09:00
Randy Mackay
a142688fea
Copter: guided attitude timeout to 1sec
...
Also add set-attitude-target capabilities flag
Thanks to Fredia and Sebastian for noticing these issues!
2015-10-10 22:04:48 +09:00
Randy Mackay
e20038a453
Copter: support SET_ATTITUDE_TARGET in guided mode
2015-10-09 12:15:38 +09:00
Randy Mackay
1dcf58bc20
Copter: support set-home-position message
2015-10-03 12:51:32 +09:00
Randy Mackay
330961b524
Copter: send home position when home is set or get-home msg received
2015-10-03 12:50:45 +09:00
Randy Mackay
26329c5a03
Copter: 3.3 release notes
2015-09-29 10:25:43 +09:00
Andrew Tridgell
38bae40ca0
Copter: use ahrs.send_ekf_status_report()
2015-09-29 10:59:24 +10:00
Andrew Tridgell
5cb088fe14
Copter: pass display_failure to AP_Motors heli check
2015-09-25 12:30:34 +10:00
Andrew Tridgell
94eb23ef56
Copter: consider flight to be dynamic at greater than 2m above ground
...
use rangefinder to switch to dynamic flight if possible
2015-09-25 12:30:34 +10:00
Andrew Tridgell
49ee4b7965
Copter: tell motors library when to use acro gyro gain
2015-09-25 12:30:34 +10:00
Andrew Tridgell
1c26ed0fca
Copter: fixed deadzone handling for external tail gyro
...
when using an external tail gyro on a flybar heli the stick input
should be directly passed to output. This patch fixes the use of
deadzone in that passthrough.
It also makes the tail handling consistent with roll and pitch
handling, by not using ACRO_YAW_P when in tail pass-through.
Finally it also fixes deadzone handling for roll and pitch, and
removes the unnecessary get_pilot_desired_yaw_rate() that has a
different prototype from the one used in the rest of the code
2015-09-25 12:05:43 +10:00
Randy Mackay
cdd4570f02
Copter: fix init order of ekfYawReset_ms
2015-09-24 16:57:50 +09:00
Randy Mackay
317779f976
Copter: check_ekf_yaw_reset uses ahrs method
2015-09-24 16:57:47 +09:00
Jonathan Challinger
e47175862a
Copter: use modified getLastYawResetAngle function
2015-09-24 16:57:44 +09:00
Andrew Tridgell
2470cf0e76
Copter: use resetHeightDatum() and getLastYawResetAngle()
2015-09-23 17:47:11 +10:00
Andrew Tridgell
053194fd51
Copter: added EK2_* parameters and EKF2 instance
2015-09-23 11:56:33 +10:00
Randy Mackay
96d6b8eb61
Copter: 3.3-rc12 release notes
2015-09-22 15:17:23 +09:00
Randy Mackay
57c5840f0d
Copter: add EKF attitude arming check
2015-09-21 17:06:39 +09:00
Randy Mackay
f3d4b20a80
Copter: calibrate gyros during accel calibration
2015-09-21 17:06:37 +09:00
Randy Mackay
01c0b20930
Copter: calibrate gyros depending on INS GYR_CAL parameter
2015-09-21 17:06:34 +09:00
KiwiHC16
004c5b8416
Copter: mission_start always restarts mission
2015-09-16 17:17:20 +09:00
Stewart Loving-Gibbard
985be6dd86
Copter: Adding Logging of RSSI data.
2015-09-16 16:41:43 +09:00
Randy Mackay
0f55b2a0eb
Copter: replace vehicle compass consistency check
2015-09-16 15:13:38 +09:00
squilter
30ed2508d6
Copter: Support do_digicam_x via command_long
2015-09-16 13:06:49 +09:00
Randy Mackay
a403e5aef0
Copter: fix severity of super simple message to GCS
2015-09-12 12:35:42 +09:00
Ivale
6c74981010
Copter: report simple mode status to GCS as text
2015-09-12 12:28:58 +09:00
Daniel Nugent
3a7036fd67
Copter: pass LANDING_TARGET message to precland lib
2015-09-11 20:56:10 +09:00
Daniel Nugent
9fe3abf5ca
Copter: precision landing uses sonar alt if available
2015-09-11 20:56:09 +09:00
Randy Mackay
cf6d0db0f1
Copter: 3.3-rc11 release notes
2015-09-10 14:54:55 +09:00
Peter Barker
1103451d36
Copter: ensure 10% free space when initialising logging
2015-09-09 12:22:36 +10:00
Randy Mackay
8efc02fe0c
Copter: delay for 200ms instead of 50ms before reboot
2015-09-09 10:39:56 +09:00
Jonathan Challinger
1fbdf11eca
Copter: set firmware_update flag instead of event
2015-09-09 10:39:55 +09:00
Staroselskii Georgii
68e0d57998
Copter: make Copter use milligauss
...
The telemetry and and logging is still in compass units, though. This
way, users won't need to recalibrate their compasses.
2015-09-09 10:38:16 +10:00
Andrew Tridgell
d6b244670b
Copter: fix for changed AP_RangeFinder API
2015-09-08 16:46:52 +10:00
Andrew Tridgell
dff9fe9cb2
Copter: use prearm_failure_reason()
2015-09-08 16:07:33 +10:00
Leonard Hall
0129110502
Copter: limit throttle mid to throttle min + 50
2015-09-07 18:10:28 +09:00
Leonard Hall
6b01c1117f
Copter: keep thr-mix at min when landed
2015-09-07 18:10:25 +09:00
Randy Mackay
0eaf815411
Copter: guided mode vel controller integrates althold lean limit
...
Note it does not yet actually limit the lean angles based on throttle
2015-09-07 15:10:13 +09:00
Leonard Hall
543f6fdcd4
Copter: AltHold limits lean angle to maintain altitude
...
get_pilot_desired_lean_angles function now takes angle max parameter but
all flight modes except AltHold simply pass in the ANGLE_MAX parameter
meaning no functional change for them
2015-09-07 15:10:12 +09:00
Leonard Hall
61d6c44e3b
Copter: tricopter yaw rate filter to 100hz
2015-09-07 12:30:39 +09:00
Randy Mackay
dc4923a88d
Copter: suppressing comment for switch case fall through
2015-09-06 16:01:33 +09:00
Randy Mackay
5e38adfae3
Copter: remove support for configure as command long
...
Also protect mount calls with MOUNT definition
2015-09-06 16:01:21 +09:00
squilter
8320c06700
Copter: Support do-mount-control via command-long
2015-09-06 16:01:16 +09:00
Andrew Tridgell
fdb1cc38b0
Copter: removed redundent copter dereference
2015-09-03 16:59:24 +10:00
Siddharth Bharat Purohit
347d1f0a25
Copter: use handle message function for compass cal from compass library
2015-09-03 16:59:14 +10:00