48124c1c4b
Copter: Use new control methods for prec loiter
3 years ago
3107c42fca
Copter: INAV rename for neu & cm/cms
3 years ago
6b871fba55
ArduCopter: inav funcs use _xy()
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
5fea74d4d0
Copter: Separate landing and terrain following.
3 years ago
a1ad194abd
Copter: seperate kinimatic shaping from pid limit setting
4 years ago
dd0b303ec2
Copter: Fix Loiter attitude error during Pre-Takeoff
4 years ago
3b0a870504
Copter: Rename set_yaw_target_to_current_heading
4 years ago
e294991b08
Copter: Fix before squash
4 years ago
caeaf7c047
Copter: Fix take off altitude
4 years ago
4bae8f03a4
Copter: Use PosControl fixes
4 years ago
726074be91
Copter: Support Thrust Vector based navigation
4 years ago
c75848435e
Copter: fix heli land detector and incoporate reset_I_smoothly
4 years ago
1ffd697769
Copter: add missing fallthrough statements
5 years ago
ffd838d908
Copter: Delay release of I term until take off
5 years ago
b0428f0fe8
Copter: make surface_tracking a class, various functions methods
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
3c436b30f0
Copter: have takeoff.start() handle clearing i terms and setting land-complete
6 years ago
b7d0e4ec10
Copter: remove surface tracking shim functions
6 years ago
33a57361bd
Copter: reduce args passed to get_surface_tracking_climb_rate
...
The same arguments are always passed in
6 years ago
46a6f45e4a
Copter: adjust for desired spool state and spool state renames
6 years ago
29d05dfeac
Copter: loiter mode gets roll and pitch from loiter_nav
...
both wp_nav and loiter_nav's get_roll() and get_pitch() simply get their values from the same underlying position controller
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
7c05364612
Copter: reindent mode init functions (NFC)
6 years ago
fab2d59a1c
Copter: move check for position up
6 years ago
8644f4d76e
Copter: Disable option code
...
Copter: Revert change
Copter: Change mistakes
6 years ago
ca565675f2
Copter: Tradheli gets support for spool logic
6 years ago
2ddb3f6697
Copter: desired-ground-idle replaces spin-when-armed
6 years ago
26ca75efae
Copter: make libraries get EKF control limits themselves
6 years ago
7e1ed948f5
Copter: Cope with AC_PosControl renaming
6 years ago
8faa1cce39
Copter: loiter glitch fix
7 years ago
ff17c78c67
Copter: create Copter::Mode::_TakeOff subobject from takeoff_state
7 years ago
b4d2406062
Copter: Tradheli - fixes collective jump on rotor shutdown in althold and loiter
7 years ago
4e3bbe9311
Copter: move sanity check for rangefinder alt to within protected func
...
get_surface_tracking_climb_rate can do an additional check....
7 years ago
59e4749fd0
Copter: integrate AC_Loiter
...
includes param conversion
7 years ago
cbd2756467
Copter: loiter loses redundant z-axis init
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
1540f98888
Copter: add angle inputs to Loiter
7 years ago
9544b1763b
Copter: replace smoothing gain with AC_AttitudeControl::set_input_tc
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
bf5f51a616
Copter: factor out takeoff_trigger from althold, sport and loiter
7 years ago
c3fbf2671c
Copter: rename control_xx.cpp files to mode_xx.cpp
7 years ago
06fbe8f3a7
Copter: rename FlightMode class to Mode
...
also remove unused print_FlightMode method
7 years ago
8870897847
Copter: FlightMode objects use lower case
7 years ago
f2495b2d08
Copter: FlightMode - convert LOITER flight mode
7 years ago
caaeae3d0a
Copter: Separate max ascent and descent speeds
...
Added equivalent parameters to WPNAV_SPEED_UP and WPNAV_SPEED_DN
New parameters named:
PILOT_SPEED_UP (technically renamed PILOT_VELZ_MAX)
PILOT_SPEED_DN
Removed parameter PILOT_VELZ_MAX (technically renamed to PILOT_SPEED_UP).
Flight Modes impacted:
ALTHOLD
AUTOTUNE
CIRCLE
LOITER
POSHOLD
SPORT
TAKEOFF
Update a section in GUIDED mode but I don't think it is ever used but update just in case.
It will use the PILOT_SPEED_UP for ascending max velocity. For down it will check if
it is 0, if so then it will PILOT_SPEED_UP instead, if non zero it will use PILOT_SPEED_DN.
This retains current behavior and gives the flexibility to change it if desired.
7 years ago
22bfec4d2a
Copter: fixed motor runup check for heli
...
for all auto-throttle modes we should not allow a mode change to the
mode if the motor runup is not complete.
This moves the code to the set_mode() so it applies to all modes
fixes issue #6956
7 years ago
Rishabh
Josh Henderson
Leonard Hall
bnsgeyer
Peter Barker
Randy Mackay
murata
Michael du Breuil
Ebin
Andrew Tridgell
ChrisBird