db2229f684
Copter: ModeGuided::do_user_takeoff_start arg rename
...
this makes it more consistent with the method it is overriding
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
5183703243
Copter: move Mode::auto_takeoff_run to takeoff.cpp
5 years ago
de5945bea5
Copter: use const reference when retrieving wpnav destination
5 years ago
709c874d8b
Copter: integrate AP_OAPathPlanner
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
402b1cba3f
Copter: replace 4 divisions with multiplications
6 years ago
caf925eda5
Copter: factorize arm or land check
6 years ago
46a6f45e4a
Copter: adjust for desired spool state and spool state renames
6 years ago
94738c3f86
Copter: change make_safe_shut_down to make_safe_spool_down
6 years ago
a6bfafefb0
Copter: move loiter and wpnav init out of make_safe_shut_down
...
resolves autotest RTLSpeed test failure
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
d949c80d54
Copter: tradheli replaces rotor_runup_complete with spool state
6 years ago
c7e21d95ef
Copter: move Log_Write_Error into library
6 years ago
366051c39f
Copter: use enum class for AltFrame enumeration
6 years ago
281dbfcef8
Copter: support send_extended_sys_state
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
717fb4d823
Copter: integrate AC_WPNav::get_speed rename to get_default_speed
6 years ago
845f015648
Copter: adjust for Location_Class and Location unification
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
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
57598e5b9f
ArduCopter：mode_guided: yaw initialization already in pos_control_start()
7 years ago
597e876953
Copter: clean up do_user_takeoff
7 years ago
2d5cbd2cf8
ArduCopter: report crosstrack_error
7 years ago
0ba105f649
Copter: minor format fix to guided
...
no need to specify copter
non-functional change
7 years ago
7c8583d51d
Copter: implement sending of position_target_global_int
7 years ago
ba8b3e2415
Copter: create an AutoYaw helper object to hold auto-yaw state
7 years ago
d7ea8f073f
Copter: run guided velocity control at main loop rate
7 years ago
853d7ab573
Copter: remove setting of pos-con jerk
7 years ago
f9acc8a666
Copter: guided removes xy mode in calls to pos-con
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Also limit angle to hold altitude
7 years ago
9544b1763b
Copter: replace smoothing gain with AC_AttitudeControl::set_input_tc
7 years ago
af56826107
Copter: follow mode fixups
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add follow to FLTMODEx param descriptions
remove follow's set_velocity method
10hz logging of desired velocity in follow mode
follow mode uses pos error P gain
add send-debug-via-mavlink option
don't enter follow if follow lib is disabled
follow debug slowed to 1hz
disable follow on min-features builds
7 years ago
0ed75052f8
Copter: enable parameters inside mode objects
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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
8d6f8e4d9c
Copter: move pos-control pids to pos-control library
7 years ago
e85b1ac740
Copter: pass dt to avoidance calls
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
c3fbf2671c
Copter: rename control_xx.cpp files to mode_xx.cpp
7 years ago
06fbe8f3a7
Copter: rename FlightMode class to Mode
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also remove unused print_FlightMode method
7 years ago
8870897847
Copter: FlightMode objects use lower case
7 years ago
103e2cc711
Copter: calculate wp bearing and distance on demand
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Move responsibility for calculating wp bearing/distance
into the FlightMode object doing the navigation
Calculating these variables was being done at 50Hz where they
were used at 10Hz max.
7 years ago
2db09ba0f7
Copter: FlightMode - convert GUIDED flight mode
7 years ago
395a4ad4ce
Copter: add z-axis obj avoidance to guided vel control
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added code to adjust z velocity using avoidance
7 years ago
c7a2fcdc37
Copter: Also use fence in Guided_PosVel mode
7 years ago
Randy Mackay
Sachchit Vekaria
Bogdan Grigoruta
Peter Barker
Dr.-Ing. Amilcar do Carmo Lucas
Pierre Kancir
bnsgeyer
Leonard Hall
murata
Michael du Breuil
liang.tang
Andrew Tridgell
Sharvashish Das