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77 Commits
Author SHA1 Message Date
Peter Barker 73498f2b8c ArduCopter: annotate and correct parameter conversion comments 
These are all "PARAMETER_CONVERSION - Added: <Mon>-<Year> for <Release>"
now, so that a grep for conversion vintages finds them and can parse the
date.

Also annotates the ARMDISARM_UNUSED to ARMDISARM_AIRMODE rewrite of
stored RCn_OPTION values, which had no annotation at all: it calls
set_and_save() directly rather than going through an AP_Param::convert_*
helper, so an audit anchored on those helpers did not see it.

Established by content rather than by date: absent from Copter-4.1.0 and
present in Copter-4.2.0.  No functional change.
 2026-08-31 08:18:26 +10:00
Randy MackayandIampete1 17792724fa Copter: simple mode fix 
Co-authored-by: Iampete1 <iampete@hotmail.co.uk>

Replaces update_simple_mode with apply_simple_mode function that takes roll and pitch input arguments.  The rotation is now done within the various get-pilot-desired-xxx methods removing the need for each flight mode to call update_simple_mode and also removing the slightly ugly call to overwrite RC_Channels' control inputs from the flight code (e.g. no more calls to set_control_in)
 2026-08-11 02:01:53 +01:00
muramura 2112de0256 Copter: make AltHold an optional build feature 2026-08-03 08:12:37 +10:00
Randy Mackay 6b2e0947df Copter: Land mode uses land-repositioning to enable pilot yaw control 
RTL may ignore pilot yaw during descent
Auto reuses RTL, Land and Guided use-pilot-yaw methods
 2026-05-26 08:40:01 +09:00
Randy Mackay e47da58d89 Copter: integrate WP param renames 2026-02-24 14:50:55 +09:00
Randy Mackay 0e72a5ffd7 Copter: Land params moved to class and scaled to meters 2026-01-23 11:51:54 +11:00
Leonard Hall 7a8cc3815f Copter: NEU to NED renaming - No compiler change 2025-12-17 08:03:10 +09:00
Leonard Hall a6d38197d1 Copter: Convert Position Control limit setters to meters 2025-08-07 08:48:18 +09:00
Leonard Hall cc08f59eb8 Copter: AC_PosControl: Fix units on set_correction_speed_accel_U 2025-08-05 11:04:37 +09:00
Leonard Hall 089b70ca72 Copter: Convert copter to radians 2025-07-01 09:06:25 +09:00
Leonard Hall 7d8c8eca1c Copter: Change heading to radians 2025-06-24 07:55:28 +09:00
Leonard Hall 589708df48 Copter: Names and Units 2025-06-23 15:05:55 +09:00
Peter Barker 3b2820e9b3 ArduCopter: avoid using stale data when using RC inputs 
relying on failsafe means that we first feed in several bind-time values into these routines, which isn't good
 2025-06-09 12:32:19 +10:00
Leonard Hall 69f563c36d Copter: add units and frames to AC_WPNav methods 
Copter

Copter
 2025-05-02 21:47:07 +10:00
Leonard Hall ce2bb06cf7 Copter: add units and frames to AC_AttitudeControl methods 
squash
 2025-04-29 08:54:14 +09:00
Leonard HallandPeter Barker c11d93b36f ArduCopter: add units and frames to AC_AttitudeControl methods 
Co-authored-by: Peter Barker <pbarker@barker.dropbear.id.au>
 2025-04-23 10:02:29 +10:00
Andy Piper eaf001c52f Copter: disable fences for landing by suppressing in the fence check rather than using a state machine 2024-07-24 08:24:06 +10:00
Peter Barker 7377b3f8f2 ArduCopter: allow compilation with HAL_LOGGING_ENABLED false 2024-01-17 18:25:55 +11:00
tzarjakob 97b7e8d1d0 ArduCopter: configuration of Precision Landing for custom build server 2023-03-27 09:04:07 +11:00
Peter Barker c32a11f37a ArduCopter: make and use AP_LANDINGGEAR_ENABLED 2022-12-14 18:30:23 +11:00
Iampete1 55e72a9848 Copter: auto yaw re-work 2022-11-01 08:21:50 +09:00
Iampete1 1b160205ab ArduCopter: change AC_FENCE to AP_FENCE_ENABLED 2022-07-27 19:04:56 +10:00
Leonard Hall 93cff95448 Copter: remove loiter_nav from auto 2022-03-07 16:14:23 +09:00
Rishabh 309dfa63f3 Copter: Switch PrecLand to use updated Pos Controller 2022-01-31 14:38:29 +09:00
Leonard Hall 5d5ccc8c78 Copter: Update ACRO to use rate parameters and update expo function 2021-09-23 20:03:53 +09:00
Leonard Hall f3dc47ce3d Copter: Add units to the AC_AttitudeControl Library 2021-09-09 08:01:14 +09:00
Randy Mackay 8102629dfb Copter: refactor/rename precland methods 2021-08-30 14:08:44 +09:00
Rishabh 40adad743e Copter: Disable Prec Land State Machine when Prec Land disabled 2021-08-30 14:08:44 +09:00
Rishabh c5b98c3490 Copter: Support Prec Land State Machine 2021-08-23 15:00:56 +09:00
bnsgeyer ca007ee6f6 Copter: Allow Tradheli to spoolup in guided or auto mode 2021-08-23 12:26:00 +09:00
Leonard Hall a1ad194abd Copter: seperate kinimatic shaping from pid limit setting 2021-07-10 20:25:05 +09:00
Andrew Tridgell d89388c4cc Copter: use cleaned up APIs 2021-06-24 20:28:45 +10:00
Leonard Hall e294991b08 Copter: Fix before squash 2021-05-24 20:13:37 +10:00
Leonard Hall 4bae8f03a4 Copter: Use PosControl fixes 2021-05-24 20:13:37 +10:00
Leonard Hall a780759221 Copter: minor format fixes 2021-05-12 17:16:00 +10:00
Peter Barker a274697776 Copter: move LAND state variables to be members rather than static 
Also rename one of them as we may be using (e.g.) OF to control position rather
than GPS.
 2021-03-25 09:39:29 +11:00
Tatsuya Yamaguchi 0cce5699b2 Copter: change from control_mode to flightmode 2021-03-23 22:48:20 +11:00
Tatsuya Yamaguchi ed8384b45a Copter: add option to disable LANDING_GEAR 2021-03-17 10:41:11 +09:00
James O'Shannessy a88f2721a8 ArduCopter: Use auto enable and auto disable from AC_Fence 2021-03-05 14:52:46 +11:00
James O'Shannessy f228adfa75 ArduCopter: Improve auto-enable/disable of fence 2021-03-05 14:52:46 +11:00
Randy Mackay 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
 2020-02-26 08:01:00 +09:00
Peter Barker ce5f23810b ArduCopter: log disarm method 2020-02-22 12:16:29 +11:00
Peter Barker 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.
 2019-11-05 08:19:26 +08:00
Michael du Breuil b42b1c08c4 Copter: Support new AP_Vehicle::set_mode 2019-10-25 08:48:22 +08:00
Peter Barker 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.
 2019-09-13 13:12:08 +09:00
Randy Mackay 1818360519 Copter: land mode inits auto yaw 2019-09-12 09:20:39 +09:00
Leonard Hall c56acb49d6 Copter: Add missing Loiter initialisation lines. 
This command is missing to define the desired acceleration that loiter will initalise to.
loiter_nav->clear_pilot_desired_acceleration();
 2019-07-20 16:40:51 +09:00
Peter Barker 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.
 2019-06-11 09:18:22 +09:00
Peter Barker 6dce39cbe1 Copter: use AP_Arming methods to arm and disarm vehicle 
Really just changing the namespace of init_arm_motors
 2019-05-30 07:37:30 +09:00
Pierre Kancir d5d81f3a1c ArduCopter: set AUTO_YAW_HOLD when user control yaw during nogps land 2019-04-23 09:35:02 +09:00