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3022 Commits

Author SHA1 Message Date
Francisco Ferreira
bbe3e41162
Plane: fix method shadowing 2018-04-03 16:29:33 +01:00
Peter Barker
f6a185a3c3 Plane: factor vehicle's mavlink send_heartbeat 2018-04-03 13:05:19 +01:00
Peter Barker
58d41e40d3 Plane: let GCS_MAVLink calibrate airspeed sensor 
Also remove useless zero_airspeed function
 2018-04-02 23:25:05 +01:00
Peter Barker
65893cfca5 Plane: tidy handling of barometer calibrations 2018-04-02 23:25:05 +01:00
Peter Barker
71bc3f5def Plane: move common calibration functions up 2018-04-02 23:25:05 +01:00
Peter Barker
91c2ece7a2 Plane: factor out preflight calibration function 2018-04-02 23:25:05 +01:00
Michael du Breuil
7405bb7b85 Plane: Support new battery failsafes 2018-03-27 22:12:21 +01:00
Peter Barker
8a75a804e7 Plane: allow DataFlash to handle log sending 2018-03-26 09:22:47 +09:00
Przemek Lekston
e5a9ac84e7 [Plane] Fix verify_loiter_heading acceptance criteria. 2018-03-20 10:25:35 -07:00
Peter Barker
5572d83ce9 Plane: move handling of get_home_position up 2018-03-19 10:32:37 +09:00
Peter Barker
7fd859da65 Plane: move home state into AP_AHRS 2018-03-19 10:32:37 +09:00
Peter Barker
7c86c4fe61 Plane: use ins singleton 2018-03-16 00:37:35 -07:00
Randy Mackay
548a7f8fcf Plane: add minor comment to quadplane 2018-03-16 13:50:57 +09:00
Leonard Hall
ee745d2cd2 Plane: quad plane uses rate-control control during transitions 2018-03-16 13:50:57 +09:00
Leonard Hall
a16d4ddad7 Plane: quadplane uses poscontrol instead of loiter 2018-03-16 13:50:57 +09:00
Randy Mackay
c5d838125b Plane: quadplane logs PSC message 2018-03-16 13:50:57 +09:00
Randy Mackay
09cad7c59d Plane: quadplane integrates attitude control inertial_frame_reset 2018-03-16 13:50:57 +09:00
Randy Mackay
03c162432e Plane: quadplane provides dt to AC_WPNav::set_pilot_desired_acceleration 2018-03-16 13:50:57 +09:00
Randy Mackay
a0a9a68fbc Plane: quadplane smoothing gain replaced by Q_A_INPUT_TC 
Q_A_INPUT_TC parameter allows this to be tuned and a single value (which defaults to a value between the two previously used values) is used for all modes
 2018-03-16 13:50:57 +09:00
Leonard Hall
aa47b19dea Plane: remove quadplane calls to multicopter poscontrol's freeze_ff_xy 2018-03-16 13:50:57 +09:00
Peter Barker
f558bbca2e Plane: use baro singleton 2018-03-08 21:20:05 -08:00
Peter Barker
4104d40130 Plane: delete correct assignment operator 2018-03-08 21:20:05 -08:00
Peter Barker
5671b3173e Plane: use AHRS singleton in GCS_MAVLink 2018-03-07 12:34:39 +00:00
Peter Barker
0862d1454e Plane: use AP::ahrs() for ADSB 2018-03-07 12:34:39 +00:00
Dr.-Ing. Amilcar Do Carmo Lucas
33288fa676 Plane: NFC adapt to new AP_Battery method name 2018-03-03 17:19:13 +00:00
Tom Pittenger
6820531e2a Plane: fixed error string spelling 2018-03-02 21:37:11 -08:00
Michael du Breuil
faea5d285c Plane: Consolidate some of the PID logging details 2018-03-03 17:34:18 +12:00
Andrew Tridgell
27e4953ad8 Plane: disable HIL on px4-v2 
this saves enough flash for px4-v2 to fit again
 2018-03-03 13:35:39 +11:00
night-ghost
98b8a61ca8 Plane: allow AP_Stats to be optional 2018-03-02 07:23:35 +11:00
David Ingraham
a6aeebad4b Plane: Add support for AP_Gripper 2018-03-01 14:14:43 +11:00
David Ingraham
9419cc3b32 Plane: Fix param docs for quadplane attitude control 
Docs aren't currently being generated for plane for AC_AttitudeControl.cpp. I believe this will fix that.
 2018-02-20 16:38:27 +11:00
Andrew Tridgell
e6cebdecd1 Plane: use scheduler.get_last_loop_time_s() 2018-02-13 17:15:05 +11:00
Peter Barker
3859e5dfb1 Plane: eliminate update_perf_logging scheduler table shim 2018-02-13 17:15:05 +11:00
Andrew Tridgell
36660b2124 Plane: use filtered loop time 2018-02-13 17:15:05 +11:00
Peter Barker
4586b892f2 Plane: pass log-performance-bit at init time rather than update time 2018-02-13 17:15:05 +11:00
Peter Barker
8cae776448 Plane: move logging of PM and PERF messages to AP_Scheduler 2018-02-13 17:15:05 +11:00
Peter Barker
02540fdbf9 Plane: use AP_Scheduler's loop() function 2018-02-13 17:15:05 +11:00
Peter Barker
73092c3c30 Plane: use scheduler ticks in place of mainloop_count 2018-02-13 17:15:05 +11:00
Peter Barker
519e6c31d2 Plane: use AP::PerfInfo library 2018-02-13 17:15:05 +11:00
Randy Mackay
dd6755f486 Plane: fix global-pos-int velocity direction to NED 2018-02-13 08:52:48 +09:00
Andrew Tridgell
2fb6113098 Plane: use AP:PerfInfo class 2018-02-10 10:50:22 +11:00
Andrew Tridgell
ac196b8e0a Plane: fixed build error 2018-02-10 08:00:24 +11:00
Tom Pittenger
50a2d824c4
Plane: crash detection hard landing detection should skip debounce 
closes https://github.com/ArduPilot/ardupilot/issues/7683
 2018-02-09 11:40:12 -08:00
Andrew Tridgell
d1e11a5bde Plane: fixed build (remove learn_offsets call) 2018-02-08 17:36:33 +11:00
Michael du Breuil
43972f8e56 Plane: Move battery logging code to AP_BattMonitor 2018-02-06 00:11:32 +00:00
Randy Mackay
ddcd08d6b6 Plane: PSC_ACCZ param name shortened 2018-01-31 08:48:21 +09:00
Michael du Breuil
aec7521da4 Plane: Fix truncation of a time interval 
Truncating the a millisecond time delta to uint16_t causes it to wrap
every 65 seconds, which could momentarily reset the desired climb rate
 2018-01-25 14:30:49 +11:00
Randy Mackay
d579e086cf Plane: quadplane param index comment for moved PIDs 2018-01-24 21:14:53 +09:00
Andrew Tridgell
20b05e4228 Plane: added conversion code for PID layout change 
this copes with the move of multicopter PIDs inside the position
controller
 2018-01-24 18:23:59 +11:00
Tom Pittenger
518abfe1d0 Plane: Allow GUIDED mode to take advantage of crosstrack flag. 2018-01-22 19:17:09 -08:00
Randy Mackay
7b1157e2d8 Plane: remove setting accel_z PID controller's dt 
This is handled within pos-controller's set_dt function
 2018-01-23 12:00:43 +09:00
Randy Mackay
f41f4dc6e5 Plane: move pos-control pids to pos-control library 2018-01-23 12:00:43 +09:00
Randy Mackay
017e71a748 Plane: quadplane velocity pi moves to position control library 2018-01-23 12:00:43 +09:00
Michael du Breuil
ff85f5e9bd Plane: Support AP_BattMonitor_Params 2018-01-17 22:21:55 +00:00
Andrew Tridgell
5614fd1ccc Plane: use calloc in preferance to malloc 2018-01-17 11:22:05 +11:00
Andrew Tridgell
2c6a004a67 Plane: mark version as 3.9.0-dev 2018-01-16 11:04:55 +11:00
Andrew Tridgell
be0d2229c1 Plane: update release notes 2018-01-16 11:03:26 +11:00
Andrew Tridgell
31d7d9f909 Plane: change airspeed parameter prefix 
this makes for clearer parameter names with dual sensors
 2018-01-16 07:14:20 +11:00
Andrew Tridgell
c1cbbf9203 Plane: check all airspeed sensors are healthy 2018-01-16 07:14:20 +11:00
Tom Pittenger
746ca91649 Plane: reset groundspeed_undershoot value when GPS is lost 
If we lose GPS lock the gndspd undershoot value gets stuck at the last calculated value forever (until GPS locks again)
 2018-01-09 17:05:04 -08:00
Tom Pittenger
1ef0f27786 Plane: allow control_mode enum to be in arbitrary order 
never use control_mode >= BLAH. This requires the order to be important which greatly increases chance for unexpected behavior
Closes https://github.com/ArduPilot/ardupilot/issues/4656
 2018-01-09 17:05:04 -08:00
Tom Pittenger
39a200b83f Plane: allow control_mode enum to be in arbitrary order 
never use control_mode >= BLAH. This requires the order to be important which greatly increases chance for unexpected behavior
Closes https://github.com/ArduPilot/ardupilot/issues/4656
 2018-01-09 17:05:04 -08:00
Peter Barker
c4c6b3cc70 Plane: AP_AHRS no longer requires GPS in constructor 2017-12-27 00:58:02 +00:00
Peter Barker
c5ae01fc6d Plane: use GPS singleton 2017-12-27 00:58:02 +00:00
luweikxy
25224cd261 Plane: remove dead code from do_vtol_land 2017-12-14 20:52:18 +09:00
Andrew Tridgell
30e224e705 Plane: removed create() method for objects 
See discussion here:

  https://github.com/ArduPilot/ardupilot/issues/7331

we were getting some uninitialised variables. While it only showed up in
AP_SbusOut, it means we can't be sure it won't happen on other objects,
so safest to remove the approach

Thanks to assistance from Lucas, Peter and Francisco
 2017-12-14 08:12:28 +11:00
Michael Oborne
9ed3ca3d35 ArduPlane: update version number 2017-12-13 18:00:03 +11:00
Ubuntu 16.04 VM
624aef401d Plane: Enforce THR_MIN/THR_MAX in VTOL modes 2017-12-11 22:18:39 -08:00
Tom Pittenger
512b327cd4 Plane: failsafe events to use enums instead of magical numbers : Non-functional change 2017-12-07 00:19:32 -08:00
Peter Barker
af007c5f0f Plane: tighten handleMessage result type 2017-12-01 17:01:10 +00:00
Tom Pittenger
3d6cc59a6b Plane: cleanup geofence warnings 2017-11-27 18:35:49 -08:00
Andrew Tridgell
2a81792b41 Plane: don't disable compass on one bad reading 
the compass can go back for a short time and recover

found by Michael
 2017-11-28 09:02:24 +11:00
Andrew Tridgell
49cb245ea6 Plane: use a min airspeed for is_flying test 
in VTOLs setting min airspeed to zero can be useful
 2017-11-28 09:02:24 +11:00
Michael du Breuil
1a3ca43e86 Plane: Don't check FS_SHORT_TIMEOUT if it's disabled 
Also renames the check_minimum_altitude() to reflect that it's only used
for FBWB.
 2017-11-24 09:58:01 -08:00
Tom Pittenger
7271586a47 Plane: invert auto_state.no_crosstrack flag to be auto_state.crosstrack. Non-functional change 2017-11-23 09:25:18 -08:00
Peter Barker
6ed0d645a3 Plane: support for units on fields 2017-11-23 10:40:30 +11:00
Guy Tzoler
a6c7890c74 Plane: use cork/push wrapper 2017-11-21 14:10:54 +11:00
Michael du Breuil
9720fcb8cc Plane: Only update home when not armed, rather then not soft armed 
Plane supports being armed, in takeoff logic and not spinning the motor
until the moment the safety button has been pressed. Unfortunately
because the safety button is required to be pressed for soft arming this
results in the plane updating home position while the user moves the
vehicle or is holding it to throw the vehicle which will can result in
several meters of altitude error from where the user expected home to
be.

Because the normal approach to plane is to have activated the safety
button before arming the aircraft this is not expected to be a behaviour
change for most users, but an improvement for people who use the button
to initiate a takeoff.
 2017-11-21 11:45:15 +11:00
Andrew Tridgell
f7a735b990 Plane: fixed transitions for tailsitters after auto-takeoff 
need to use angle wait
 2017-11-19 16:06:02 +11:00
Andrew Tridgell
85573b3ff3 Plane: fixed a division by zero 
if min airspeed is zero
 2017-11-19 16:04:40 +11:00
Andrew Tridgell
e06f160dc9 Plane: disable rudder scaling in tailsitters 
this is most often implemented as dual-motor differential thrust, and
we don't want to do surface speed scaling for that.

In the future we'll move this scaling so it can be done on rudders for
3D planes
 2017-11-18 10:38:46 +11:00
Peter Barker
ee5f550475 Plane: AP_Camera uses GPS singleton 2017-11-16 15:28:37 +00:00
Peter Barker
b4294c00f6 Plane: use gps singleton for GCS functions 2017-11-15 13:43:03 +00:00
André Kjellstrup
1d27e21d83 Plane: Option to trig by distance only when in AUTO mode 2017-11-14 00:10:22 +00:00
Andrew Tridgell
bf1aa64345 Plane: updated release notes for 3.8.3 2017-11-13 15:06:42 +11:00
Andrew Tridgell
271373e1e8 Plane: added a not on min slew rate for throttle 2017-11-13 10:29:46 +11:00
Michael du Breuil
767018b1d4 Plane: Support unlocking cruise heading with rudder 2017-11-09 09:39:44 +11:00
Michael du Breuil
bd32b5deb7 Plane: update isFlying() landing check 
When we are landing a sink_rate < -0.2f means the vehicle is climbing,
which should never happen during an approach for any supported landing
type (slope or deepstall), and on hard impacts with the ground its
common for the vehicle altitude to be projected to low and climb back to
the correct altitude slowly (but at a higher rate). This changes the
check to only consider sinks while on approach as acceptable.
 2017-11-07 08:57:15 +01:00
Tom Pittenger
8029a7f10e
Plane: add Tom Pittenger to developers list 
Plane: add Tom Pittenger to developers list. He was added to main Plane.h as "Lead Developer" here *https://github.com/ArduPilot/ardupilot/blob/master/ArduPlane/Plane.h#L2) but never to the main ArduPilot.c file.
 2017-11-06 13:46:32 +01:00
Andrew Tridgell
5843086760 Plane: update release notes for 3.8.3beta4 2017-11-05 21:47:15 +11:00
Andrew Tridgell
957c1f6d23 Plane: extend QLOITER transition pitch limit 
use twice transition time for pitch envelope to reduce QLOITER
transition harshness
 2017-11-05 21:35:32 +11:00
Andrew Tridgell
bbf98fae46 Plane: fixed a warning 2017-11-05 21:25:37 +11:00
Andrew Tridgell
9c8cd6c1cc Plane: added Q_TRANS_DECEL 
this gives a deceleration rate for QRTL transition from RTL, and also
for transitions to QLOITER
 2017-11-05 20:44:42 +11:00
Andrew Tridgell
e27c54a312 Plane: smooth out fwd tailsitter transition 
use Q_TRANSITION_MS and the transition angle to pitch forward more
slowly
 2017-11-05 17:25:00 +11:00
Andrew Tridgell
21164ef409 Plane: added tailsitter surface speed scaling 
added scaling of control surfaces by throttle when in hover. This helps
the controller remain stable over a wide range of throttle levels, such
as when descending or rapidly climbing
 2017-11-05 17:05:08 +11:00
Michael du Breuil
83decd1370 ArduPlane: Only run is_flying landing checks when in landing stage 2017-11-04 10:07:16 +11:00
Andrew Tridgell
126d5ce5d4 Plane: re-implement MIXING_OFFSET 
this was lost in the conversion of SRV_Channels
 2017-11-04 09:34:22 +11:00
Michael du Breuil
e63e39c411 Plane: Don't broadcast PWM value that tripped throttle failsafe 2017-11-02 16:46:08 -07:00
Michael du Breuil
d52f5155f0 Plane: Rename rc failsafe state members 2017-11-02 16:46:08 -07:00
nick2204
7d91755bd1 Plane: update Q_OPTIONS docs 
Made q_options description a little clearer
 2017-11-01 09:38:42 +11:00