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50dfe3f197
ardupilot/ArduCopter
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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
..
afs_copter.cpp ArduCopter: log disarm method 2020-02-22 12:16:29 +11:00
afs_copter.h Copter: correct build when AFS disabled 2019-08-22 10:49:43 +09:00
AP_Arming.cpp Copter: rename ADSB_ENABLED to HAL_ADSB_ENABLED and remove from config 2020-09-22 09:33:51 +10:00
AP_Arming.h Copter: add ekf alt pre-arm and mode init checks 2020-08-20 12:41:40 +09:00
AP_Rally.cpp Copter: adjust for Location_Class and Location unification 2019-01-16 11:45:29 +11:00
AP_Rally.h Copter: Rally no longer takes ahrs in constructor 2019-02-20 18:03:38 +11:00
AP_State.cpp Copter: make SuperSimple type-safe 2020-06-16 19:39:42 +10:00
APM_Config_mavlink_hil.h Copter: Fix typo 2019-03-26 15:39:23 +11:00
APM_Config.h Copter: remove stale MAGNETOMETER config option from config files 2020-09-29 11:17:08 +10:00
Attitude.cpp Copter: remove wrapper for get_avoidance_adjusted_climbrate 2020-08-22 08:31:25 +09:00
autoyaw.cpp Copter: make make/gimbal configurable on a per-board basis 2020-08-04 09:18:14 +10:00
avoidance_adsb.cpp Copter: rename ADSB_ENABLED to HAL_ADSB_ENABLED and remove from config 2020-09-22 09:33:51 +10:00
avoidance_adsb.h ArduCopter: use an enumeration for the AP_Avoidance recovery action 2020-08-19 11:38:19 +10:00
baro_ground_effect.cpp Copter: simplified update of ekf terrain height stable setting 2020-06-24 21:16:50 +09:00
commands.cpp Copter: cope with change in namespace of LogEvent enum 2019-11-05 08:19:26 +08:00
compassmot.cpp Arducopter: Primary Compass is always serial# 0 2020-02-19 13:59:53 +09:00
config.h Copter: remove stale MAGNETOMETER config option from config files 2020-09-29 11:17:08 +10:00
Copter.cpp Copter: rename ADSB_ENABLED to HAL_ADSB_ENABLED and remove from config 2020-09-22 09:33:51 +10:00
Copter.h Copter: remove duplicate include 2020-09-24 08:22:16 -07:00
crash_check.cpp Copter: crash check reqs 15deg lean and under 10m/s 2020-07-20 12:49:53 +09:00
defines.h Copter: move mavlink set-position defines into mavlink library 2020-08-11 09:52:52 +09:00
ekf_check.cpp Copter: minor comment fix 2020-04-24 18:18:05 +09:00
esc_calibration.cpp Copter: reject reboot request from GCS if auto esc cal on next reboot 2019-10-15 07:41:44 +09:00
events.cpp Copter: add gripper release FS_Option 2020-08-26 17:58:24 +09:00
failsafe.cpp Copter: rename dataflash to logger 2019-03-28 16:40:57 +11:00
fence.cpp ArduCopter: log disarm method 2020-02-22 12:16:29 +11:00
GCS_Copter.cpp Copter: make SuperSimple type-safe 2020-06-16 19:39:42 +10:00
GCS_Copter.h ArduCopter: create and use INTERNAL_ERROR macro so we get line numbers 2020-04-30 13:21:36 +10:00
GCS_Mavlink.cpp Copter: rename ADSB_ENABLED to HAL_ADSB_ENABLED and remove from config 2020-09-22 09:33:51 +10:00
GCS_Mavlink.h Copter: implement send_winch_status 2020-08-07 21:55:07 +09:00
heli.cpp Copter: Allow manual autorotations without enabling arot flight mode 2020-05-20 21:56:09 -04:00
inertia.cpp Copter: avoid SITL failure when changing current_loc.alt frame 2020-02-05 17:29:34 +09:00
land_detector.cpp Copter: add air mode aux function 2020-06-16 20:30:26 +10:00
landing_gear.cpp Copter: integrate landing gear option and make edge based 2020-02-26 08:01:00 +09:00
leds.cpp Copter: remove shims used in scheduler 2018-02-12 11:19:34 +09:00
Log.cpp Copter: fix typos in PL dataflash logs field description text 2020-08-04 08:14:29 +09:00
Makefile.waf waf: use single entry point for make wrappers 2015-12-10 10:40:34 +09:00
mode_acro_heli.cpp Copter: add in additional acro options 2020-07-14 15:54:24 +09:00
mode_acro.cpp Copter: add in additional acro options 2020-07-14 15:54:24 +09:00
mode_althold.cpp Copter: add missing fallthrough statements 2020-01-15 13:55:42 +11:00
mode_auto.cpp Copter: Add AUTO_OPTIONS and support arming and throttle bypass 2020-10-01 08:46:29 +09:00
mode_autorotate.cpp Copter: fixed use of timestamps in autorotate 2020-04-20 07:10:21 +10:00
mode_autotune.cpp Copter: remove wrapper for get_avoidance_adjusted_climbrate 2020-08-22 08:31:25 +09:00
mode_avoid_adsb.cpp Copter: move control_mode_t into being Mode::Number enum class 2019-09-13 13:12:08 +09:00
mode_brake.cpp Copter: Support new AP_Vehicle::set_mode 2019-10-25 08:48:22 +08:00
mode_circle.cpp Copter: support circle with terrain altitude 2020-04-16 17:30:29 +09:00
mode_drift.cpp Copter: Delay release of I term until take off 2019-11-09 09:40:10 +08:00
mode_flip.cpp Copter: Delay release of I term until take off 2019-11-09 09:40:10 +08:00
mode_flowhold.cpp Copter: remove wrapper for get_avoidance_adjusted_climbrate 2020-08-22 08:31:25 +09:00
mode_follow.cpp Copter: follow mode restores offsets to zero on exit 2019-10-07 08:30:45 +09:00
mode_guided_nogps.cpp Copter: correct namespacing of Copter modes 2019-06-11 09:18:22 +09:00
mode_guided.cpp Copter: guided mode checks dest before changing submode 2020-09-15 08:36:39 +09:00
mode_land.cpp Copter: integrate landing gear option and make edge based 2020-02-26 08:01:00 +09:00
mode_loiter.cpp Copter: add missing fallthrough statements 2020-01-15 13:55:42 +11:00
mode_poshold.cpp Copter: poshold wind effect comp limited to 2/3rds of angle max 2020-09-16 08:19:17 +09:00
mode_rtl.cpp Copter: remove superfluous RETURN_TARGET_ALTTYPE_ from enum class names 2020-09-08 10:01:59 +10:00
mode_smart_rtl.cpp Copter: correct mode change for GCS failsafe in SmartRTL mode 2020-09-08 09:05:03 +09:00
mode_sport.cpp Copter: add missing fallthrough statements 2020-01-15 13:55:42 +11:00
mode_stabilize_heli.cpp Copter: add missing fallthrough statements 2020-01-15 13:55:42 +11:00
mode_stabilize.cpp Copter: Delay release of I term until take off 2019-11-09 09:40:10 +08:00
mode_systemid.cpp Copter: use SID_AXIS to hide other SystemID mode params 2019-12-03 14:53:55 +08:00
mode_throw.cpp Copter: Added Throw Mode logger documentation 2020-04-07 08:05:10 +09:00
mode_zigzag.cpp Copter: add ZIGZ_AUTO_ENABLE parameter 2020-06-03 15:21:21 +09:00
mode.cpp Copter: rename ADSB_ENABLED to HAL_ADSB_ENABLED and remove from config 2020-09-22 09:33:51 +10:00
mode.h Copter: Add AUTO_OPTIONS and support arming and throttle bypass 2020-10-01 08:46:29 +09:00
motor_test.cpp Copter: Support higher resolution percent based motor tests 2020-08-09 13:47:48 +10:00
motors.cpp Copter: do not adjust trims while landed 2020-06-03 16:19:01 +10:00
navigation.cpp ArduCopter: move get_bearing_cd to Location and rename to get_bearing_to 2019-04-06 09:10:28 +11:00
Parameters.cpp Copter: Add AUTO_OPTIONS and support arming and throttle bypass 2020-10-01 08:46:29 +09:00
Parameters.h Copter: Add AUTO_OPTIONS and support arming and throttle bypass 2020-10-01 08:46:29 +09:00
precision_landing.cpp Copter: precision landing does not use terrain database 2019-12-17 20:02:01 +09:00
radio.cpp Copter: add air mode aux function 2020-06-16 20:30:26 +10:00
RC_Channel.cpp Copter: fix init of RC option 52 2020-08-18 18:55:29 +10:00
RC_Channel.h Copter: add in additional acro options 2020-07-14 15:54:24 +09:00
ReleaseNotes.txt Copter: fix 4.0.4-rc1 release notes 2020-09-16 15:43:42 +09:00
sensors.cpp Copter: integrate winch changes 2020-08-07 21:55:07 +09:00
standby.cpp Copter: Standby functions 2019-10-17 14:57:18 +09:00
surface_tracking.cpp Copter: CTUN logging fix for SAlt 2019-11-12 09:10:21 +08:00
system.cpp Copter: replace message indicating that initialisation has completed 2020-09-22 09:52:52 +10:00
takeoff.cpp Copter: move set_throttle_takeoff implementation into Mode 2020-08-05 08:23:03 +09:00
terrain.cpp Copter: precision landing does not use terrain database 2019-12-17 20:02:01 +09:00
toy_mode.cpp Copter: make SuperSimple type-safe 2020-06-16 19:39:42 +10:00
toy_mode.h Copter: correct compilation with toymode enabled 2019-11-06 16:36:35 +11:00
tuning.cpp Copter: integrate winch changes 2020-08-07 21:55:07 +09:00
UserCode.cpp Copter: implement user auxswitch functions 2018-07-26 20:27:49 +09:00
UserParameters.cpp Copter: User parameters implementation 2018-08-31 08:42:03 +09:00
UserParameters.h Copter: User parameters implementation 2018-08-31 08:42:03 +09:00
UserVariables.h Global: remove mode line from headers 2016-10-24 09:42:01 -02:00
version.h ArduCopter: Use new AP_FWVersionDefine header 2020-09-23 20:58:35 +10:00
wscript Copter: remove linkage of AP_Stats 2020-01-16 20:36:54 +11:00