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Copter-3.3
Commit Graph

1788 Commits

Author SHA1 Message Date
Andrew Tridgell
3427224bfc Plane: fixed logging of parameters on arming 2015-06-12 13:11:06 +10:00
Eugene Shamaev
5b34fa4f6a Plane: added DSM bind support 2015-06-10 17:19:10 +10:00
Andrew Tridgell
6b9854457d Plane: added PID tuning logging for ground steering 2015-06-09 12:48:56 +10:00
Andrew Tridgell
bc6a52f8db Plane: fixed handling of OVERRIDE_CHAN on arming 
When arming we need to ensure that we don't enable any channels
otherwise PX4IO will think that FMU is active and will stop running
the internal RC mixer
 2015-06-09 12:48:55 +10:00
Michael Oborne
7dcd24137e Plane: add bitmask documentation 2015-06-05 10:21:21 +09:00
Lucas De Marchi
6bbf0e7770 Plane: stop using alias FUNCTOR_BIND_VOID 2015-06-04 13:37:38 +09:00
Andrew Tridgell
bf396d7138 Plane: log to tlog when we set home via MAVLink 2015-06-04 13:26:39 +10:00
Andrew Tridgell
5942bf5cf0 Plane: added plane specific arming checks 
added check for roll and pitch limits, after flyaway due to small
LIM_ROLL_CD
 2015-06-04 13:26:39 +10:00
Andrew Tridgell
47f4a5db10 Plane: try to load px4 mixer 10 times on boot 
this allows for possible temporary failures
 2015-06-02 21:59:03 +10:00
Andrew Tridgell
3e74b82bc4 Plane: fixed two bugs in px4io override code 
First bug is going via microSD to poulate mixer. We can't rely on the
microSD being writeable or functioning properly. Instead create the
buffer in memory and only write a copy to the filesystem.

Second bug is related to extreme trim values on channels. If trim
values are well out of range then the mixer fails and override fails.
 2015-06-02 21:48:18 +10:00
Randy Mackay
9ece826c28 Plane: Log_Write_Startup writes parameters 2015-06-01 20:22:50 +09:00
Grant Morphett
2c3cff7f84 Plane: Moving parameter logging to be after all systems have started 2015-06-01 20:22:40 +09:00
Andrew Tridgell
db784c83dc Plane: removed unnecessary pragmas 2015-06-01 17:42:21 +10:00
Andrew Tridgell
9adc879253 Plane: changes for new AHRS API 2015-06-01 16:16:49 +10:00
Andrew Tridgell
1797e2baa8 Plane: simpler initalisation of plane class 
take advantage of C++11 in-class initialisation
 2015-06-01 08:48:54 +10:00
Andrew Tridgell
57544a3537 Plane: added blank Parameters.pde for MissionPlanner 2015-05-30 15:21:33 +09:00
Andrew Tridgell
1520d8f734 Plane: catch a px4_mixer failure case 2015-05-30 11:17:56 +10:00
Andrew Tridgell
9b77260ebb Plane: disable PID logging on APM2 2015-05-29 16:32:05 +10:00
Andrew Tridgell
2f5ade4810 Plane: use 16 bit mask for GCS_PID_MASK 2015-05-27 15:09:47 +10:00
Andrew Tridgell
09476bf9d3 Plane: added GCS_PID_MASK for realtime pid tuning 2015-05-27 14:28:46 +10:00
Andrew Tridgell
c31da93726 Plane: log roll and pitch PIDs 2015-05-27 14:28:45 +10:00
Peter Barker
d7ed06816a Plane: use 64-bit timestamps for dataflash logs 2015-05-27 11:54:15 +10:00
Andrew Tridgell
964b8ed2f3 Plane: fix for scheduler API change 2015-05-26 14:33:52 +10:00
Lucas De Marchi
7c4cf41ebc ArduPlane: use functor macros 
Functor is not yet being used but let's make is macro fallback to the
previous Delegate implementation for easy of transition between the two.
 2015-05-26 13:46:54 +10:00
Andrew Tridgell
97687f04af Plane: enable messages for MAVLink gimbal support 2015-05-26 08:30:30 +10:00
Andrew Tridgell
5511140f95 Plane: fixed fence return point on breach 
this was broken by the recent guided mode changes. Thanks to Grant for
noticing!
 2015-05-24 15:24:02 +10:00
Andrew Tridgell
eee191875e Plane: fixed plane version, removing old pde 2015-05-22 16:07:43 +10:00
Andrew Tridgell
8974c879fe Plane: fixed paths for GCS_MAVLink parameter file 2015-05-21 11:42:45 +10:00
Andrew Tridgell
8359b75201 Plane: removed NOINLINE define 2015-05-21 09:35:55 +10:00
Andrew Tridgell
78f02634d0 Plane: fixed ins reference in plane object 2015-05-21 07:48:54 +10:00
Andrew Tridgell
441d96c946 Plane: fixed APM1 build 2015-05-21 07:48:53 +10:00
Andrew Tridgell
554869033f Plane: disabled rangefinder on APM2 
this saves 5k of flash space, enough for support to be kept for
another release
 2015-05-21 07:48:53 +10:00
Andrew Tridgell
6fe65cdd9a Plane: removed duplicate rangefinder 2015-05-21 07:48:53 +10:00
Andrew Tridgell
b92c2409e4 Plane: added local millis() and micros() to reduce code size a bit 2015-05-21 07:48:53 +10:00
Andrew Tridgell
150af130ee Plane: get closer to making var_info appear in text segment 2015-05-21 07:48:52 +10:00
Andrew Tridgell
18c37935c9 Plane: convert from .pde to .cpp files 2015-05-21 07:48:52 +10:00
Andrew Tridgell
f75e9f95d1 Plane: Adjust for new AP_Scheduler syntax 2015-05-21 07:48:48 +10:00
Andrew Tridgell
6be0932d82 Plane: prepare for 3.3.0 release 2015-05-20 18:01:21 +10:00
Andrew Tridgell
db871cc581 Plane: prevent trim values out of range for PX4 mixer 
thanks to Brian Christal for a good bug report!
 2015-05-17 21:24:58 +10:00
Tom Pittenger
b4be1b866a Copter: compiler warning stuff 
float to double promotion via cos instead of cosf
 2015-05-16 08:21:36 +10:00
Andrew Tridgell
9ceee3cea7 Plane: support setting just accel trim with preflight-cal 
use param5==2
 2015-05-16 07:56:35 +10:00
Randy Mackay
174c55b0af Plane: add support for 4th mavlink channel 2015-05-15 15:07:28 +09:00
Andrew Tridgell
2feee9aa88 Plane: call Log_Write_POS() 2015-05-15 14:28:15 +10:00
Andrew Tridgell
e362b4fc04 Plane: fix for new compass API 2015-05-15 14:25:44 +10:00
Andrew Tridgell
7f488c1c9c Plane: removed duplicate rangefinder instance 2015-05-14 08:51:59 +10:00
Tom Pittenger
76f448e512 Plane: Write new mission to log without telling GCS 2015-05-13 20:25:57 +09:00
Randy Mackay
0db25426c0 Plane: use accel_calibrated_ok_all 2015-05-12 16:32:20 +09:00
Randy Mackay
a3271e4584 Plane: clarify SYSID_MAV parameter description 2015-05-11 09:23:06 +09:00
Andrew Tridgell
ff126db1d3 Plane: make GUIDED behaviour match copter 
we now have to be in GUIDED mode to accept a new GUIDED WP. When
entering GUIDED mode start loitering about the current position
 2015-05-10 14:28:02 +10:00
Tom Pittenger
eb2bfcd2d3 Plane: replace fabs() with labs(), unnecessary int to float conversion 2015-05-09 09:57:25 +10:00
Tom Pittenger
ba29967454 Plane: if receiving last mission item then log new mission to dataflash 2015-05-08 21:01:51 +10:00
Andrew Tridgell
fd84a6b493 Plane: fixed missing break in fence floor logic 2015-05-08 16:27:16 +10:00
Michael Day
ee14678d2a Plane: Allow disabling of only the fence floor. 2015-05-08 16:25:22 +10:00
Andrew Tridgell
1a7d831327 Plane: support raw IMU logging 2015-05-07 12:11:52 +10:00
Andrew Tridgell
8395b92309 Plane: revert AP_Math class change 2015-05-05 13:27:04 +10:00
Tom Pittenger
2301883d5c Plane: compiler warnings: function not declared 2015-05-05 13:27:01 +10:00
Tom Pittenger
c4c47cba66 Plane: compile warnings: float to double. print statements require doubles 2015-05-05 13:26:59 +10:00
Tom Pittenger
43006c0eec Plane: compiler warnings: apply is_zero(float) or is_equal(float) 2015-05-05 13:26:58 +10:00
Tom Pittenger
c2eeed7d85 Plane: compiler warnings: apply is_zero(float) or is_equal(float) 2015-05-05 13:26:57 +10:00
Tom Pittenger
0cbbb20dcf Plane: compiler warnings: apply is_zero(float) or is_equal(float) 2015-05-05 13:26:54 +10:00
Andrew Tridgell
a299fdacdf Plane: fix for HAL_SITL rename 2015-05-05 09:45:57 +10:00
Michael Day
8a6fc0ad77 Plane: If LAND_FLARE_SEC is 0 use LAND_FLARE_ALT for aim_height. 
See discussion here:

https://github.com/diydrones/ardupilot/pull/2197
 2015-04-30 17:19:55 +10:00
Michael Day
05d065b471 Plane: Make LAND_FLARE_SEC optional. 2015-04-30 14:34:34 +10:00
Andrew Tridgell
93fed6c2ac Plane: update release notes for 3.3.0beta2 2015-04-30 14:07:30 +10:00
Andrew Tridgell
c65f5a1bda Plane: disable camera mount support on APM2 
this makes the firmware small enough to squeeze onto an APM2 again
 2015-04-30 11:57:20 +10:00
Andrew Tridgell
75c9689a64 Plane: added armed and safety state to STAT log message 2015-04-30 11:15:08 +10:00
Andrew Tridgell
5038e1d26d Plane: remove deprecated log types 
we no longer depend on the binary format for Replay, so we can change
IDs now
 2015-04-30 11:05:17 +10:00
Tom Pittenger
f5dfe7c650 ArduPlane: Log isFlying status 
Log is_flying() status and its float probability in new STAT msg
and piggyback on MODE bitmask flag.
 2015-04-30 10:57:03 +10:00
Randy Mackay
e122916815 Plane: fix MNT param description 2015-04-29 09:07:52 +09:00
Tom Pittenger
c974134ea4 ArduPlane: RTL Autoland skip HOME 
With RTL_AUTOLAND=1 we navigate to HOME then to the DO_LAND_START commands. Now with RTL_AUTOLAND=2 we head directly to the DO_LAND_START commands and thus skip changing altitude to ALT_HOLD_RTL and head directly to the first land waypoint as if it was the next normal waypoint.
 2015-04-28 12:09:00 +10:00
Andrew Tridgell
3c9ed9b5a6 Plane: don't limit down pitch during landing 
there is no reason for a special case for aircraft without airspeed
sensors
 2015-04-28 09:25:49 +10:00
Andrew Tridgell
c73945686c Plane: use ahrs.yaw_sensor not direct compass read for yaw 
also use 10 degrees of margin, to cope with fast yaw changes (this
function is called at only 10Hz)
 2015-04-25 09:12:17 +10:00
Andrew Tridgell
343a682d22 Plane: fixed conditional for 0 lat/lon 2015-04-25 09:12:17 +10:00
Michael Day
607d9ca839 Plane: Implementation of do_ and verify_ for MAV_CMD_NAV_LOITER_TO_ALT 2015-04-25 09:12:16 +10:00
Tom Pittenger
1176146e06 Plane: fix compile warnings for unused functions 2015-04-24 14:09:43 +09:00
Tom Pittenger
bd9b573969 Plane: Fix compile warnings 
- const values declared as default double
- This is the first pass in fixing the warnings, trying to catch some low hanging fruit. All const double values are changed to float. For example: 1.0 is now 1.0f.
- Only except is in location.pde where some double stuff is happening
- I did not change the exponentials 1e7 type stuff which should be 1e7f. A different commit
 2015-04-24 12:20:53 +09:00
Randy Mackay
0acc4af63c Plane: replace range finder health with status 2015-04-24 10:57:28 +09:00
Paul Riseborough
32f87d008a Plane: Allow EKF to pull data from range finder object 2015-04-24 10:56:56 +09:00
Niels Joubert
6b7b3247ed Plane: Handle GPS Injection 2015-04-24 08:01:33 +10:00
Jaime Machuca
ab1cf2261d Plane: add call to send digicam configure messages from a mission item 
Also add log_picture to separate the taking of a picture
from the dataflash logging and feedback to GCS
 2015-04-20 13:50:17 +09:00
Andrew Tridgell
664c92fb81 Plane: fixed RUDDER_ONLY to not combine direct rudder output 
this prevents us over-rolling in FBWA
 2015-04-20 09:09:23 +10:00
Andrew Tridgell
edec706c12 Plane: added RUDDER_ONLY parameter 
this gives much easier setup for rudder only aircraft.
 2015-04-20 09:09:23 +10:00
Michael du Breuil
78a3ce46b9 Plane: Use tecs to control the throttle during takeoff 2015-04-16 08:56:37 +10:00
Michael du Breuil
867ca05e17 Plane: fix a relative altitude check for glide slope building 2015-04-13 20:15:07 -07:00
Michael du Breuil
4b1d71e390 Plane: rebuild the glide slope if we are above it and already climbing 
(controlled by GLIDE_SLOPE_THR)
 2015-04-13 20:14:51 -07:00
Michael Day
0279fdb0de Plane: Never trigger fence breach in LAND_FINAL flight stage. 2015-04-14 11:12:39 +10:00
Andrew Tridgell
03a50712db Plane: default LAND_DISARMDELAY to 20 seconds 
most people will want to disarm
 2015-04-06 15:37:54 -07:00
Andrew Tridgell
36796fb810 Plane: added LOCAL_POSITION_NED message 2015-04-05 09:25:41 -07:00
Randy Mackay
7e4dd9666c Plane: fix serial manager integration 2015-04-01 15:13:20 -07:00
Randy Mackay
ab749f884f Plane: integrate Serial Manager instance 2015-04-01 14:59:26 -07:00
Andrew Tridgell
6a33588f67 Plane: make LOG_BITMASK logging when disarmed clearer 2015-03-31 14:38:09 -07:00
Randy Mackay
d3663d43c1 Plane: send invalid batt curr if monitor unhealthy 2015-03-20 11:05:35 +09:00
Andrew Tridgell
9468a59204 Plane: require 3 seconds of not flying to declare a crash on land 2015-03-17 10:40:16 +11:00
Tom Pittenger
1b0ed277b3 Plane: Disarm On Land 
After a landing has occur using a LAND waypoint, automatically disarm
after this many seconds have passed. Use 0 to not disarm.
 2015-03-17 10:30:41 +11:00
Andrew Tridgell
90bb97a144 Plane: added last_flying_ms to auto_state 
used to find out how long it is since we were last flying
 2015-03-17 10:12:00 +11:00
Andrew Tridgell
18b277a9d2 Plane: use arm_motors() and disarm_motors() 2015-03-17 10:12:00 +11:00
Andrew Tridgell
dd1059cecf Plane: added arm_motors() and disarm_motors() helper functions 2015-03-17 10:12:00 +11:00
Andrew Tridgell
86ef4a738c Plane: only pass through throttle in failsafe if armed 2015-03-16 16:45:49 +11:00
Andrew Tridgell
e55350a5d6 Plane: added crash detection in autoland 
if we are no longer flying then flare, which turns off the motor

This is based on work by Tom Pittenger
 2015-03-16 10:59:53 +11:00
Andrew Tridgell
fb8b96ba0d Plane: make is_flying() a bit more accurate in landing approach 
prevent false negatives using the sink rate
 2015-03-16 10:58:36 +11:00