73940df48e
Copter: move mission into mode_auto
6 years ago
7e581da1cf
Copter: implement misson LOITER_TO_ALT
6 years ago
a339d77f08
Copter: let AP_Mission handle common camera commands
6 years ago
f97281eb48
Copter: move servorelayevents mission handling into AP_Mission
6 years ago
1eec264d6c
Copter: mission library handles gripper
6 years ago
b74ae2d912
Copter: Obey and preserve DO_SET_ROI commands when executing LOITER_TURNS mission commands
6 years ago
7af119b497
Copter: factor out loc_from_cmd from three functions
6 years ago
5f552a6ce3
Copter: stop shadowing members of Copter
...
These references were taken to make the breaking out of Modes in Copter.
A lot of other code has already caused these sorts of things to go away,
but these particular ones seem reasonable to fix by pointing the users
at the copter object directly.
6 years ago
e02a645354
Copter: use fabsf() instead of labs()
...
wrap_180_cd returns a float
substracting a float from an int32 returns a float
6 years ago
d94663d5af
Copter: support changing vertical speed in DO_CHANGE_SPEED
6 years ago
26ca75efae
Copter: make libraries get EKF control limits themselves
6 years ago
1b5b46dab5
Copter: Missing Loiter Init on accel
6 years ago
470548a100
Copter: Allow starting mission commands to fail
7 years ago
17c12dab2a
Copter: correct payload_place flytolocation
7 years ago
84ff9c6928
Copter: switch to pos control when takeoff finish
7 years ago
22f7f29045
Copter: move all of waypoint-takeoff into Mode namespace
7 years ago
11aeec6dd1
Copter: factor out auto_takeoff_run from auto and guided
...
This code was identical.
7 years ago
078d90132c
Copter: use AP_RTC
...
Co-authored-by: patrickelectric@gmail.com
Copter: AP_GPS now sets the system time directly
Copter: use AP_RTC for mission delays
Copter: Remove ap_t bits counter (Patrick José Pereira)
Change bits in ap_t to bool and add a static assert
7 years ago
e440583a7c
Copter: Beeping when first reaching waypoint while in holding there
7 years ago
5df4b9f6fd
Beeping when first reaching waypoint even while in holding there
7 years ago
a1fd1cb9b2
Copter: avoid keeping buzzing while in holding at waypoint
7 years ago
7c8583d51d
Copter: implement sending of position_target_global_int
7 years ago
8648db06b4
Copter: create autoyaw.cpp from all the bits of Copter::Mode::AutoYaw
7 years ago
948b90ed97
Copter: rename roi_WP to just roi
...
A Vector3f is not a waypoint.
This should really be "Point Of Interest" rather than "Region Of
Interest"
7 years ago
ba8b3e2415
Copter: create an AutoYaw helper object to hold auto-yaw state
7 years ago
59e4749fd0
Copter: integrate AC_Loiter
...
includes param conversion
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
7b50517232
Copter: Moved commands_logic to mode_auto
...
Moved methods from commands_logic.cpp to
the mode_auto.cpp. Method order is
the same as declared in mode.h
7 years ago
9544b1763b
Copter: replace smoothing gain with AC_AttitudeControl::set_input_tc
7 years ago
5b7116bbbd
Copter: Fix else formating (NFC)
...
git history on these lines is not important, this is a simple else
7 years ago
b9ad2bc8db
Copter: add option to disable AUTO mode
...
Saves ~12k of flash
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
114628afe4
Copter: use zero_throttle_and_relax_ac in stab, guided, acro and auto
7 years ago
71ad1b5815
Copter: use zero_throttle_and_relax_ac function
7 years ago
4c7491a05b
Copter: mode_auto's landing_gear_deploy method defers to mode_rtl
...
Since we defer our rtl_run behaviour to the RTL flightmode, it should
also specify the landing gear behaviour
7 years ago
d9235d3d41
Copter: make landing_gear_should_be_deployed a base-class method
7 years ago
6c82f7671d
Copter: move all commands logic into AUTO flightmode
7 years ago
2d23e1f7c7
Copter: rename flightmode_ objects to mode_
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
682f3c0e7e
Copter: FlightMode - convert RTL flight mode
7 years ago
2db09ba0f7
Copter: FlightMode - convert GUIDED flight mode
7 years ago
e2b70c3a0a
Copter: FlightMode - convert AUTO flight mode
7 years ago
5b793252ed
Copter: stop disarming as part of running rtl as mission item
...
Fixed #6324
Note that the land-as-mission-item code is duplicated from the
rtl-as-mode code but omits the disarm part, so doesn't suffer from the
same bug.
7 years ago
c1433e0220
Copter: minor comment and formatting fixes
...
no functional change
8 years ago
4c9e118ceb
Copter: set_auto_yaw_look_at_heading takes bool for relative angle arg
...
No functional change
8 years ago
9b05f1d9c7
Copter: add auto-yaw-rate and replace guided_angle_state.use_yaw_rate
...
We use the auto_yaw_mode in auto and guided modes to allow various yaw behaviours
This commit adds a new AUTO_YAW_RATE control to the mode and uses it within guided mode.
This new RATE control is not currently used within auto mode because there is no way (yet) for a mission command to specify a desired rate.
8 years ago
f60389d4aa
Copter: use send_text method on the GCS singleton
8 years ago
aab27d8d0e
Copter: auto loiter initialisation simplified
...
The simpler set_wp_destination can be used instead of set_wp_origin_and_destination
8 years ago
Peter Barker
Dr.-Ing. Amilcar Do Carmo Lucas
chobitsfan
Leonard Hall
Michael du Breuil
Pierre Kancir
apinxiko
Randy Mackay
Ebin
Bruno Camba
Andrew Tridgell