54be8402a2
Copter: integrate control_guided
11 years ago
212ced63f6
Copter: bug fix for do_loiter_time alt target
11 years ago
70d1e53b74
Copter: commands_logic to use auto_rtl
11 years ago
bae867712d
Copter: integrate circle mission command
11 years ago
055ce4e53e
Copter: integrate control_rtl
11 years ago
cdc0f8e414
Copter: use new control_auto takeoff and land
11 years ago
f3bcbb2ce4
Copter: remove setting roll, pitch yaw modes in set_mode
11 years ago
65f7bf92f4
Copter: replace yaw_mode with auto_yaw_mode
11 years ago
0a2adbac1b
Copter: renaming functions after moving xy control
11 years ago
5fd9410ff5
Copter: much renaming as xy pos controller moves
11 years ago
e8b8cc1a5d
Copter: converted to AP_ServoRelayEvents
11 years ago
e3804e2846
Copter: fixes for AP_Relay API change
11 years ago
6d55895d30
Copter: simplify do-set-servo mission command
...
This potentially changes the servo number that must be supplied if using
an APM1 but it now shares the same logic as arduplane and also adds
protection that the servo is not attached to the motor.
removed debug message from previous commit.
11 years ago
59cea4b88c
Copter: remove CopterLED from main code
11 years ago
7ef04bb73b
Copter: rename nav_yaw to control_yaw
11 years ago
0e2ddb0378
Copter: verify_takeoff() should set ap.takeoff_complete to True after the takeoff is complete.
11 years ago
65980ace68
Copter: remove some commented out send_text code
11 years ago
3b9566bc09
Copter: support MAV_CMD_DO_SET_CAM_TRIGG_DIST
11 years ago
7cc8a9038f
Copter: move failsafe flags into structure
12 years ago
284aa2217f
Copter: remove old comments
12 years ago
6052017b13
Copter: allow override of auto throttle mode
12 years ago
7ea971d948
Copter: check set_mode for failure
...
Previously if set_mode failed it would return the copter to stabilize
mode. With this commit set_mode returns a true/false indicating whether
it succeeded or not so the caller can make the decision as to the
appropriate response which could be to stay in the current flight mode
or try another flight mode.
12 years ago
1dcc5886d0
Copter: ensure take-off alt is at least 1m
...
fixes issue #377
12 years ago
47ab02d686
Copter: bug fix to ROI to pull target from conditional command queue
12 years ago
f1969d5662
Copter: switch from NAV_ROI to DO_SET_ROI
12 years ago
ab1a7baf71
Copter: project stopping point for loiter command
12 years ago
022148ec0d
Copter: LAND only control horizontal position if we have GPS lock
12 years ago
993bccc60e
Copter: point nose at landing point if specified
12 years ago
9f59f2724f
Copter: bug fix for take-off when throttle is zero
...
Verify_takeoff was always returning false if throttle was zero. The
pilot should be able to move their throttle back to zero immediately
after initiating the mission
12 years ago
79bd8b4fd0
rtl resets yaw to same as when armed - unless user specifies otherwise
12 years ago
0460147a15
Copter: guided mode yaw fix
...
Nose of copter now points at next guided point if it is more than 10m
away
12 years ago
429f900460
Copter: bug fix for RTL bearing
...
Also smooth RTL's initial climb stage by projecting stopping point
12 years ago
ad656c7e8a
Copter: allow lat/lon to be specified for land
12 years ago
b3bca271d4
Copter: rename verify_must to verify_nav_command
...
Perhaps easier to understand if we use the "nav" and "conditional"
command labels
12 years ago
b65d714675
Copter: set yaw-mode in do_loiter mission command
12 years ago
1b52ee211a
Copter: bug fix for RTL yaw control
...
Nose was only pointing home if your initial altitude was above the
RTL_ALT
12 years ago
1b2d8636ca
Copter: set wp to "fast" if they have no delay
12 years ago
105bd32a2e
Copter: fixed some uses of constrain_float() to be right type
12 years ago
25c576cad7
Copter: replaced constrain() with constrain_float()
12 years ago
a53e5f747b
Copter: add fourth yaw behaviour, look-at-home
...
Added get_wp_yaw_mode to remove duplication of checks of the
WP_YAW_BEHAVIOR parameter
12 years ago
37abfdc65a
Copter: make CIRCLE_RATE a tunable parameter
...
Also bug fix to check of how many time it has rotated during a loiter
turns mission command
12 years ago
d65d7d95e2
Copter: bug fix for take-off so it never descends
...
If copter was already flying when take-off command was received it could
descend to the target altitude if it was below the current altitude.
12 years ago
0fc9c8739e
Copter: add WP_YAW_BEHAVE parameter
...
Allows user to control whether nose points towards next waypoint and/or
home when RTLing.
Replaces YAW_OVR_BEHAVE which had a very similar purpose. Almost nobody
ever knew about or used this parameter.
12 years ago
a7b32caf72
Copter: bug fix for loiter_time check
...
loiter_time_max was changed to hold the loiter time in seconds
(previously it was milliseconds) in order to allow the delay to be more
than 65 seconds but the verify_loiter_time check was missed from that
change
12 years ago
8c7a1597dc
Copter: remove debug comment from RTL
12 years ago
629d23b7e2
Copter: remove WP_SPEED and WP_RADIUS parameters
...
AC_WPNav library has equivalent params with very similar names
12 years ago
1ee825ee9a
Copter: move alt and wp checking to AC_WPNAV
...
RTL fix so that if it starts rtl-ing from above 80m it returns home
while descending instead of descending at initial position.
add get and set_target_alt_for_reporting
12 years ago
553f40a99c
Copter: bug fix to loiter delay
...
change delay to seconds to allow delays longer than 65seconds
12 years ago
1516972eaa
Copter: add panorama to CIRCLE mode
...
Yaw will slowly rotate if CIRCLE_RADIUS is set to zero
Circle center is projected forward CIRCLE_RADIUS from current position
and heading
12 years ago
58ed8cd544
Copter: replace set_next_WP with direct call to wp_nav
12 years ago
Randy Mackay
Andrew Tridgell
Robert Lefebvre
Dr Gareth Owen