b32072c130
Copter: remove loiter_nav from auto
3 years ago
309dfa63f3
Copter: Switch PrecLand to use updated Pos Controller
3 years ago
5d5ccc8c78
Copter: Update ACRO to use rate parameters and update expo function
3 years ago
f3dc47ce3d
Copter: Add units to the AC_AttitudeControl Library
3 years ago
8102629dfb
Copter: refactor/rename precland methods
3 years ago
40adad743e
Copter: Disable Prec Land State Machine when Prec Land disabled
3 years ago
c5b98c3490
Copter: Support Prec Land State Machine
4 years ago
ca007ee6f6
Copter: Allow Tradheli to spoolup in guided or auto mode
4 years ago
a1ad194abd
Copter: seperate kinimatic shaping from pid limit setting
4 years ago
d89388c4cc
Copter: use cleaned up APIs
4 years ago
e294991b08
Copter: Fix before squash
4 years ago
4bae8f03a4
Copter: Use PosControl fixes
4 years ago
a780759221
Copter: minor format fixes
4 years ago
a274697776
Copter: move LAND state variables to be members rather than static
...
Also rename one of them as we may be using (e.g.) OF to control position rather
than GPS.
4 years ago
0cce5699b2
Copter: change from control_mode to flightmode
4 years ago
ed8384b45a
Copter: add option to disable LANDING_GEAR
4 years ago
a88f2721a8
ArduCopter: Use auto enable and auto disable from AC_Fence
4 years ago
f228adfa75
ArduCopter: Improve auto-enable/disable of fence
4 years ago
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
5 years ago
ce5f23810b
ArduCopter: log disarm method
5 years ago
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.
5 years ago
b42b1c08c4
Copter: Support new AP_Vehicle::set_mode
5 years ago
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.
5 years ago
1818360519
Copter: land mode inits auto yaw
5 years ago
c56acb49d6
Copter: Add missing Loiter initialisation lines.
...
This command is missing to define the desired acceleration that loiter will initalise to.
loiter_nav->clear_pilot_desired_acceleration();
6 years ago
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.
6 years ago
6dce39cbe1
Copter: use AP_Arming methods to arm and disarm vehicle
...
Really just changing the namespace of init_arm_motors
6 years ago
d5d81f3a1c
ArduCopter: set AUTO_YAW_HOLD when user control yaw during nogps land
6 years ago
caf925eda5
Copter: factorize arm or land check
6 years ago
46a6f45e4a
Copter: adjust for desired spool state and spool state renames
6 years ago
94738c3f86
Copter: change make_safe_shut_down to make_safe_spool_down
6 years ago
f96da56ad6
Copter: Allow safe shutdown before disarming
6 years ago
a6bfafefb0
Copter: move loiter and wpnav init out of make_safe_shut_down
...
resolves autotest RTLSpeed test failure
6 years ago
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
6 years ago
717fb4d823
Copter: integrate AC_WPNav::get_speed rename to get_default_speed
6 years ago
2ddb3f6697
Copter: desired-ground-idle replaces spin-when-armed
6 years ago
8fdd439827
Copter: land mode minor format fixes
6 years ago
7e1ed948f5
Copter: Cope with AC_PosControl renaming
6 years ago
17b61f72a3
Copter: Initialise desired acceleration before loiter init
6 years ago
59e4749fd0
Copter: integrate AC_Loiter
...
includes param conversion
7 years ago
b3cb491bb1
Copter: minor format fix to mode_land
7 years ago
914f3385a4
ArduCopter: Moved land control fn definitions to mode.cpp (NFC)
7 years ago
1ff4019ddf
ArduCopter: moved landing control fns from Copter to Mode
...
land_run_horizontal_control(),land_run_vertical_control(),get_alt_above_ground() moved to Mode
7 years ago
d8f56b3511
ArduCopter: changed signature for get_pilot_desired_lean_angles()
...
Removes first two redundant input parameters, makes fn non static, makes fn const
7 years ago
1a0be015f9
Copter: land, loiter, rtl provide dt to AC_WPNav::set_pilot_desired_acceleration
...
Also fix accelerations/lean-angles for land and rtl-land
7 years ago
93de23e7c4
Copter: get-pilot-desired-lean-angles accepts another angle-max
7 years ago
9544b1763b
Copter: replace smoothing gain with AC_AttitudeControl::set_input_tc
7 years ago
25665c5dd9
Copter: correct definition of unused variable when precision landing disabled
7 years ago
0ed75052f8
Copter: enable parameters inside mode objects
...
this adds FHLD_* parameters for FlowHold mode. It is a large patch as
it needs to disentagle the mode class to enable it to be used in
Parameters.h
7 years ago
cfc69214e6
Copter: add LAND_ALT_LOW parameter
7 years ago
Leonard Hall
Rishabh
Randy Mackay
bnsgeyer
Andrew Tridgell
Peter Barker
Tatsuya Yamaguchi
James O'Shannessy
Michael du Breuil
Pierre Kancir
Ebin
Pierre Kancir