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28423 Commits

Author SHA1 Message Date
Andrew Tridgell 4c5b1e1fc5 Plane: prepare for 3.8.3beta3 2017-11-04 10:05:27 +11:00
Andrew Tridgell 02bdacd0b6 Plane: updated release notes for 3.8.3beta3 2017-11-04 10:05:04 +11:00
Andrew Tridgell 301b97df61 Plane: re-implement MIXING_OFFSET 
this was lost in the conversion of SRV_Channels
 2017-11-04 09:41:15 +11:00
Andrew Tridgell 996df23a7f AP_Motors: fixed tailsitter use of SPIN_MIN 2017-11-04 09:27:54 +11:00
Andrew Tridgell 8e6f22ae73 AP_InertialSensor: don't apply offsets in SITL backend 
the offsets are applied in the rotate and correct methods
 2017-11-01 17:10:38 +11:00
Andrew Tridgell c05c495cc8 AP_InertialSensor: support rotated IMUs in SITL 2017-11-01 17:10:32 +11:00
Andrew Tridgell 5631056f10 Plane: log currently used airspeed 
this logs whatever airspeed is being used for flight
 2017-11-01 09:21:28 +11:00
Andrew Tridgell e715e47f0c Plane: prepare for 3.8.3beta2 2017-10-31 18:04:39 +11:00
Andrew Tridgell 0072b21f5b Plane: updated release notes for 3.8.3beta2 2017-10-31 18:04:25 +11:00
Andrew Tridgell 51258d07dd autotest: added HMAS location 2017-10-31 18:01:47 +11:00
Andrew Tridgell 26e4f8ccb3 Plane: fixed GUIDED loiter with Q_RTL_MODE=1 
this was broken by the recent RTL_RADIUS changes

thanks to Nick for noticing this!
 2017-10-31 18:01:33 +11:00
Peter Barker 6111f2322f SITL: avoid FPE when running fly.ArduPlane 
Program received signal SIGFPE, Arithmetic exception.
__expf_finite () at ../sysdeps/x86_64/fpu/e_expf.S:132
132     ../sysdeps/x86_64/fpu/e_expf.S: No such file or directory.
(gdb) u
 2017-10-31 17:26:44 +11:00
Andrew Tridgell 5967597f43 Plane: prepare for 3.8.3beta1 2017-10-30 16:51:46 +11:00
Andrew Tridgell 03d77b023d Plane: use WP_LOITER_RAD if RTL_RADIUS is 0 for QRTL 2017-10-30 16:51:46 +11:00
Andrew Tridgell a915a9a71e Plane: use RTL_RADIUS for QRTL threshold 
when Q_RTL_MODE=1 in a quadplane use RTL_RADIUS as the distance to
switch to QRTL mode. We navigate to the destination using direct
waypoint navigation instead of using a loiter circle.
 2017-10-30 16:25:47 +11:00
Andrew Tridgell 3d20973ae2 Plane: smoother tailsitter transitions 
this smooths out tailsitter transitions in both directions, adding a
new FW to VTOL transition state
 2017-10-30 15:26:08 +11:00
Andrew Tridgell 9709bca7b4 Plane: prevent a float exception at pitch 90 
this can happen with a tailsitter
 2017-10-30 15:26:08 +11:00
Andrew Tridgell 1ad929c56e Plane: fixed tailsitter ANGLE_WAIT transition 
we need vtol control during transition from hover to fwd flight
 2017-10-30 15:26:08 +11:00
Andrew Tridgell 25678a59e7 HAL_Linux: added _main_ctx 2017-10-30 15:26:08 +11:00
Andrew Tridgell 0eb25fcc74 AP_Compass: avoid double detection of the AK09916 
with an ICM20948 we can double detect the compass due to the i2c pass-thru
 2017-10-29 19:52:03 +11:00
Lucas De Marchi f03057fdeb AP_Compass: use IST8310 and HMC5883 as external mags 2017-10-29 19:52:03 +11:00
Francisco Ferreira 9e414b4ae3 AP_Compass: re-enable QMC5883 compass driver by default 
This reverts commit a657daf635
 2017-10-29 19:52:03 +11:00
Andrew Tridgell 7019506175 AP_Compass: added IST8310 on FMUv3 I2C 2017-10-29 19:52:03 +11:00
Andrew Tridgell b2668a88ee HAL_PX4: fixed a race condition on i2c init 
we could call init on two devices with the same name, which caused
init_ok to be false. This could cause the SMBus battery to fail to
initialise

Thanks to Michael duBreuil for finding this!
 2017-10-29 19:52:03 +11:00
Lucas De Marchi d0494350d5 AP_HAL_Linux: UARTDevice: never be the controlling terminal 
If we are the controlling terminal for a tty device we will receive a
SIGHUP when the device disappears. Currently what happens is that we
simply stop the whole process. We don't want to fall off the sky due
to a bad device. This can happen for any reason, but it's more likely
if the UART is behind a USB connection.
 2017-10-29 19:52:03 +11:00
Andrew Tridgell 3126dea51d DataFlash: log critical messages while disarmed 
this logs critical messages while disarmed if we have logged any
messages while armed. This fixes issue #7010 where log files show the
incorrect mode if the log includes any portions where the user
disarmed. It makes analysing users logs very difficult. It also
affects parameters, so we don't always know the true parameter values
in logs from users.
 2017-10-29 19:52:02 +11:00
Peter Barker 2d684cd9e8 AP_HAL_SITL: implement in_main_thread 2017-10-29 19:52:02 +11:00
Andrew Tridgell 844bcf33c9 AP_HAL_QURT: make in_main_thread const and override 
# Conflicts:
#	libraries/AP_HAL_QURT/Scheduler.cpp
#	libraries/AP_HAL_QURT/Scheduler.h
 2017-10-29 19:52:02 +11:00
Andrew Tridgell 9d897f5da6 AP_HAL_VRBRAIN: make in_main_thread const and override 
# Conflicts:
#	libraries/AP_HAL_VRBRAIN/Scheduler.cpp
#	libraries/AP_HAL_VRBRAIN/Scheduler.h
 2017-10-29 19:52:02 +11:00
Andrew Tridgell 8b472919da AP_HAL_PX4: make in_main_thread const and override 
# Conflicts:
#	libraries/AP_HAL_PX4/Scheduler.cpp
#	libraries/AP_HAL_PX4/Scheduler.h
 2017-10-29 19:52:02 +11:00
Andrew Tridgell 3ef150e9f7 AP_HAL_Linux: make in_main_thread const and override 
# Conflicts:
#	libraries/AP_HAL_Linux/Scheduler.cpp
#	libraries/AP_HAL_Linux/Scheduler.h
 2017-10-29 19:52:02 +11:00
Peter Barker 4cb981afa6 AP_HAL: make in_main_thread public, pure and virtual 2017-10-29 19:52:02 +11:00
Peter Barker f9f20970c9 DataFlash: resolve race conditions with IMU logging thread 2017-10-29 19:52:01 +11:00
Andrew Tridgell 17ef7e68b1 Plane: implement Q_OPTIONS 
this allows for NAV_TAKEOFF to be treated as NAV_VTOL_TAKEOFF in
quadplanes, and for level flight to be maintained during quadplane
transitions
 2017-10-29 19:52:01 +11:00
Andrew Tridgell f88f512dc6 Plane: relax controllers when disarmed 
this prevents any remaining integrator from a previous flight stage from
affecting flight across a disarm
 2017-10-29 18:15:20 +11:00
Andrew Tridgell 8a4e84e099 AP_TECS: improved support for VTOL transitions 2017-10-21 18:50:50 +11:00
Andrew Tridgell bf0e1ac554 Plane: support LOITER_TO_ALT in quadplanes 2017-10-21 18:50:47 +11:00
Andrew Tridgell f656077a45 autotest: added more CMAC startup locations 
this allows matching to RealFlight positions
 2017-10-21 18:50:42 +11:00
Andrew Tridgell 665cdee768 SITL: use thread for FlightAxis comms 
this allows us to run SITL at a much higher framerate than RF can
provide, and results in the EKF being much happier
 2017-10-21 18:50:40 +11:00
Andrew Tridgell 77702c18a5 HAL_SITL: don't run IO at more than 100Hz 
save some CPU for faster frame rates
 2017-10-21 18:50:36 +11:00
Andrew Tridgell ec84fa0711 Plane: make mav_type in HEARTBEAT configurable 
needed for qgc to setup for quadplanes
 2017-10-20 15:39:44 +11:00
Andrew Tridgell 62273d2c1f Plane: prevent controller windup on ground 
when on the ground in an auto-throttle mode lik FBWB or CRUISE, we may
have the throttle suppressed. In that case we should not run the
multicopter controller on quadplanes, or it may build up control which
will then apply on takeoff. This is particularly severe for aircraft
that are not level on the ground, such as taildragger quadplanes

Fixes https://discuss.ardupilot.org/t/quadplane-flips-on-takeoff/22095

many thanks to Sriram for reporting
 2017-10-20 15:13:52 +11:00
Andrew Tridgell 110263ea98 Plane: update docs for Q_YAW_RATE_MAX 2017-10-19 20:59:02 +11:00
Andrew Tridgell d88dff98a6 Plane: added frame type 11 for FlreFlyY6 2017-10-06 11:37:14 +11:00
Andrew Tridgell 5b4e57414d AP_Airspeed: fixed airspeed autocal 
don't use negative pressures
 2017-09-22 18:28:32 +10:00
Mark Whitehorn a39cfda192 AP_Airspeed: eliminate airspeed positive bias 2017-09-22 18:28:07 +10:00
Andrew Tridgell ce5903f758 Plane: fixed MANUAL_RCMASK 
ensure it only applies in MANUAL, and fixed input scaling in px4io
 2017-09-19 16:59:16 +10:00
Rufus Wong add27e4b3b AP_Compass: Add break to prevent fallthrough of PIXRACER to PIXHAWK_PRO 2017-09-18 19:57:52 +10:00
Andrew Tridgell 6e78d2af5a Plane: allow takeoff in guided then fw loiter 
this allows for quadplane takeoff in GUIDED with Q_GUIDED_MODE=0. The
takeoff will be VTOL, but subsequent guided points will be fixed wing
 2017-09-18 10:26:33 +10:00
Andrew Tridgell f829f5615b Plane: prepare for 3.8.2 release 2017-09-11 09:56:12 +10:00