1abb439051
Copter: move acro's var initialisation to roll-pitch and yaw controller initialisation
12 years ago
942ba0476b
Copter: remove manual_attitude and throttle flags
12 years ago
b7579bb028
Copter: move init of global nav variables to set_nav_mode
12 years ago
979636936d
Copter: support reboot to bootloader
12 years ago
e985253f1a
Copter: integrate notify
12 years ago
7159c539e6
Copter: skip mode change checks when disarmed
...
Note: there will be a follow up commit to move the checks into a
separate function so they can be called just before arming
12 years ago
e32342163d
Copter: rename ACRO variables
12 years ago
39ab4f62ef
Copter: add SPORT mode
12 years ago
12da2d160a
Copter: set landing_complete flag to false on start-up
12 years ago
c3daf78340
Copter: reset loiter target when landed
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
41ba4a1ed2
Copter: initialise ch7 and ch8 aux switches
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This ensures that if you have simple mode or sonar attached to an
auxiliary switch it will be enabled or disabled according to the switch
immediately after start-up
12 years ago
64ce9b017d
Copter: Body frame ACRO upgrade
12 years ago
345924ddec
WPNav: replace LOITER_ACCEL_MAX with parameter
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Also removed unused _lean_angle_max variable
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
68470c9176
Copter : Land submode - Check for GPS 3D Fix instead of checking for available home position
12 years ago
f175111243
added GPS check before mode change. New mode_requires_gps() function.
12 years ago
d1791bab76
Copter: fix barometer cli test
12 years ago
885ce7db03
Copter: remove DigitalReadFast
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With APHal all reads are fast
12 years ago
9d0f40b432
Copter: add pre_arm_rc_check
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Motors are not be enabled unless we have passed rc checks which include
checking the radio in calibration has been performed.
12 years ago
98732ae4e8
Copter: remove redundant init of controllers when auto is started
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individual do_* commands are responsible for setting roll-pitch, yaw and
throttle modes. Removing this redundant setting of the controllers
removes the short period (10th second max) where loiter and waypoint
controller's desired roll and pitch were used even before the
controllers have been run once.
12 years ago
cca05ee8ae
Copter: start dataflash logging when arming
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Stop nearly empty logs from being produced.
Removed redundant armed bit from ap state.
12 years ago
58d1da2d80
Copter: integrate AC_Fence in place of limits
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Lesser functionality than limits but saves more than 150 bytes and it
works
12 years ago
82c604dd67
Copter: more constrain fixes
12 years ago
a53e5f747b
Copter: add fourth yaw behaviour, look-at-home
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Added get_wp_yaw_mode to remove duplication of checks of the
WP_YAW_BEHAVIOR parameter
12 years ago
02c3083f60
Copter: print flight mode as string
12 years ago
a0708460a4
Copter: convert to new logging system
12 years ago
d2bd818b2d
Copter: bug fix for auto_armed logic
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Zero throttle when switching into an auto flight mode would cause the
motors to stop.
12 years ago
f82ce449d7
AC_WPNav: add angle limits and set from AC's throttle controller
12 years ago
1516972eaa
Copter: add panorama to CIRCLE mode
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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
49828eba7d
Copter: integrate AC_WPNav
12 years ago
d1afd2fb9b
Copter: make guided mode start at current location
12 years ago
7cf2255822
Copter LEDs: replace bitRead with bitmask
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Consolidate all checks of led_mode to leds.pde
Add #defines for bitmasks comparisons
Some formatting changes
12 years ago
80bd593814
Copter: disarm motors when entering CLI
12 years ago
dcf21eee8f
Copter: only allow entering the CLI within 30 seconds of start-up
12 years ago
952c56e990
Copter: fixed barometer init in HIL sensors mode
12 years ago
36834e77b5
Copter: remove support for CLI Slider
12 years ago
f9539384a1
Copter: rename failsafe to failsafe_radio
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Makes way for separation of failsafes for throttle, gps and gcs
12 years ago
0d5e731a65
Copter: add compassmot to cli
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Allows user to setup compensation for motor's interference on the
compass
12 years ago
cbde042ec5
Copter: remove non-inav loiter and wp controllers
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lon_speed, lat_speed changed to float
do_takeoff, do_land now set roll-pitch, yaw and nav modes specifically
removed fast_corners functionality (may need to be reimplemented with
new inertial nav controllers)
12 years ago
67c69a19ee
Copter: remove baro-only alt hold
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Saves 8 bytes of memory and more importantly simplifies the alt hold
calculations
12 years ago
b74fe10aa9
Copter: set each flight mode's nav_mode
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Allow ACRO flight mode's roll, pitch, yaw, throttle and nav mode to be
overwritten
12 years ago
aaecc25ac7
Copter: leonard's inav2
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Moved loiter controller to navigation.pde
12 years ago
fd02cfe706
Copter: added set_nav_mode to control initialisation of nav controllers
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Renamed run_navigation_controllers() to run_autopilot()
Renamed update_nav_wp() to update_nav_mode()
Renamed wp_control to nav_mode to be more consistent with roll-pitch,
yaw and throttle controllers
12 years ago
911e090e07
Copter: typo fixed for trad heli config
12 years ago
08dc730d40
ArduCopter: bug fix to LAND flight mode not actually landing if initiated from failsafe
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An hidden bit of failsafe functionality in the set_mode function was
switching the throttle mode back to THROTTLE_AUTO instead of
THROTTLE_LAND
12 years ago
36e38eeef7
Copter: ensure ahrs.init() is called
12 years ago
87627d883b
ArduCopter: use new logging method for remaining packet types
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Additional changes include renaming RAW dataflash type to IMU
12 years ago
Randy Mackay
Andrew Tridgell
Leonard Hall
Olivier-ADLER
Dr Gareth Owen