dba3158446
Copter: correct mode change for GCS failsafe in SmartRTL mode
...
In the case that you:
- have previously done a successful SmartRTL flight
- get a mid-air gcs failsafe and enter SmartRTL
- recover from that gcs failsafe but remain in SmartRTL
- get another mid-air failsafe
then without this patch you will enter LAND mode.
When determining our failsafe action, we were looking at whether we
should just continue landing. To do that, we ask the current mode if we
are landing. Problem is that SmartRTL was handing back the wrong answer
- it was handing back ModeRTL's answer rather than its own, and
ModeRTL's answer was "yes, I'm landing", as that's the last state that
step 1 in the above list leaves that mode in.
This patch simply hands back the correct answer for, "am I landing"
4 years ago
397b95154c
Copter: remove superfluous RETURN_TARGET_ALTTYPE_ from enum class names
...
Just repeats what's in the required prefix for the enum class
4 years ago
afa153fb6f
Copter: remove wrapper for get_avoidance_adjusted_climbrate
...
Only the modes are interested in this - there's no point having it on
the Copter object.
5 years ago
30c8d7bf40
Copter: dev option so set-attitude-target thrust field used as thrust
5 years ago
12c9578a66
Copter: add in additional acro options
...
Air-mode for multicopters
Rate only for multicopters and trad-heli
if air-mode aux switch is toggled in acro do not reset air-mode on exit
5 years ago
cde7ae246e
Copter: add ZIGZ_AUTO_ENABLE parameter
5 years ago
78fd5fac04
Copter: allow to resume in ZigZag Auto
5 years ago
cee7e94ebc
Copter: add zigzag_line_num parameter
5 years ago
7bc528097d
Copter: support zigzag auto feature
5 years ago
60fb275501
Copter: rename zigzag_auto_pump to zigzag_sprayer
5 years ago
923237ffd3
Copter: Enumerate A and B points of ZigZag
5 years ago
4c2cf2139e
Copter: fixed use of timestamps in autorotate
...
fixes wrap handling
5 years ago
ffd601aca4
Copter: fixed build warnings in autorotate
...
unused code, and incorrect use of abs()
5 years ago
735498e160
Copter: move zigzag exit into mode_zigzag.cpp
5 years ago
db2229f684
Copter: ModeGuided::do_user_takeoff_start arg rename
...
this makes it more consistent with the method it is overriding
5 years ago
90883624bc
Copter: fix use of wp-navmin-alt
5 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
f6125b26e8
Copter: Allowing Terrain Following in Guided Mode
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Uses frame type of MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT message to decide the value of terrain_alt boolean.
5 years ago
495c4ad6b6
Copter: remove unused ModeAuto::wp_start
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this version accepts an offset from the ekf origin which is not required. All callers provide a Location
5 years ago
d244162587
Copter: zigzag supports arming, takeoff and landing
5 years ago
809b170015
Copter: Circle mode pilot control of rate & radius
...
RC pitch stick controls circle mode radius. RC roll stick controls circle mode rate (speed) and direction.
5 years ago
72e6446204
Copter: make requires_terrain a callback on the flightmode
...
This will prompt new modes to consider whether failsafe should be active
for terrain.
5 years ago
ea22e888c7
Copter: improve RTL terrain following
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RTL_ALT_TYPE replaces TERRAIN_FOLLOW param
return path built using rangefinder or terrain database
pre-arm checks for RTL_ALT_TYPE parameter
pre-arm checks of terrain data only run if RTL might use it
5 years ago
39a6b104dd
Copter: move RTLState to ModeRTL
5 years ago
54582814aa
Copter: use SID_AXIS to hide other SystemID mode params
5 years ago
2296448027
Copter: make private enum class for LAND mode's state
5 years ago
180d4e713c
Copter: Added autorotation flight mode and support
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
5ece75a09a
Copter: AC_AutoTune writes events itself now
5 years ago
b42b1c08c4
Copter: Support new AP_Vehicle::set_mode
5 years ago
2cb3e446ab
Copter: systemid mode formatting and name changes
5 years ago
c11f2247eb
Copter: System ID mode
5 years ago
91be844b66
Copter: Let modes stop Attitude Logging
5 years ago
ca92f0505e
Copter: follow mode restores offsets to zero on exit
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
0983a04d52
Copter: NAV_Delay variable timers to be all unsigned and labeled as _ms
6 years ago
709c874d8b
Copter: integrate AP_OAPathPlanner
6 years ago
0e34d8b1ff
Copter: PosHold fix for low brake_rate
6 years ago
b7a748df88
Copter: auto's wp_start accepts terrain alts
6 years ago
00f6dc9b05
Copter: brake moved in from AC_WPNav
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
0c64cdc565
Copter: TradHeli - add virtual flybar to heli acro flight mode
6 years ago
08a18d6a0a
Copter: avoid working with uninitialised home location
6 years ago
d34c4b01f4
Copter: build return path in run() rather than init()
...
This avoids attempting to build a return path if we don't currently have
a home or origin
6 years ago
3fe63d5bc0
Copter: only save autotune gains if disarmed in autotue
6 years ago
37c07e1d89
Copter: use enum class for roll/pitch mode
...
This adds some type-safety and helps distinguish between the many
defines which are used within PosHold mode
Saves about 210 bytes of flash
6 years ago
462d87e5d0
Copter: remove unused PosHoldModeState enumeration
6 years ago
e28c6b9dc6
Copter: remove redundant poshold_ prefix on PosHold methods
6 years ago
f57a9f11cc
Copter: move poshold state variables into mode object
...
This was simply moving the members from the poshold struct into the
class then mechanically removing poshold. from in front of the member
access.
6 years ago
8a5141f751
Copter: mode autoyaw lower in mode.h
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make ordering of some declarations consistent across child classes
6 years ago
Peter Barker
Randy Mackay
Andy Piper
Tatsuya Yamaguchi
murata
Andrew Tridgell
Sachchit Vekaria
Matt Lawrence
Gone4Dirt
Michael du Breuil
Leonard Hall
Tom Pittenger
Rishabh
Bill Geyer
Peter Hall