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62,946 Commits 71 Branches 509 Tags 752 MiB
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Commit Graph

218 Commits

Author SHA1 Message Date
Iampete1
7912fcd511 Plane: do_RTL: don't log mode 2024-03-19 12:24:54 +11:00
Henry Wurzburg
3973c28f15 Plane:add TKOFF_TIMEOUT to MODE TAKEOFF 2024-01-30 11:02:53 +11:00
J.R. Bronkar
2be84183b7 ArduPlane: fractional Loiter Turn Support 
Adds special storage handling for loiter turns. Fractional Loiter
Turns 0<N<1 are stored by multiplying the turn number by 256, then
dividing that number by 256 on retrieval.
 2024-01-22 20:27:20 -08:00
Andrew Tridgell
5723b1c780 ArduPlane: convert MIN_GNDSPEED_CM to MIN_GROUNDSPEED 2024-01-23 15:00:30 +11:00
Peter Barker
6ee5ab41fd ArduPlane: allow compilation with HAL_LOGGING_ENABLED false 2024-01-17 18:25:55 +11:00
Peter Barker
b3897c020e ArduPlane: make AHRS attitude member variables private 2024-01-14 12:47:47 +11:00
Bob Long
f8d7be5e43 Plane: fix bug in RTL_AUTOLAND with rally points 
After loading the rally point, ModeRTL:navigate checks if rally altitude
has been reached before altitude_error_cm gets updated
 2023-12-12 10:58:22 +11:00
Iampete1
8061b1b4c2 Plane: move set_servos_idle functionality to ModeAuto 2023-10-31 14:06:22 +11:00
Michael du Breuil
b630efd4db ArduPlane: Pass the 4th parameter to ICE for engine start 2023-10-24 14:11:39 -07:00
Andrew Tridgell
c980e0488e Plane: fixed terrain RTL with rally points 
this fixes a bug where if the terrain database cache does not have the
tile for the location of a rally point then RTL to the rally point
with TERRAIN_FOLLOW=1 will not track terrain

The underlying issue is that Location::loc.change_alt_frame() will
return false if the location is not in the terrain memory cache. We
can't just extrapolate as the rally point could be in a totally
different terrain area to the current location. So instead we set it
as terrain_following_pending and fix it as soon as the terrain cache
is filled.

fixes https://github.com/ArduPilot/ardupilot/issues/25157
 2023-10-14 10:46:00 +11:00
Peter Barker
e13566695b ArduPlane: allow for compilation without AP_RTC_ENABLED 2023-10-11 19:17:27 +11:00
Peter Barker
93da99bea2 Plane: adjust for a lack of DCM 2023-09-27 08:00:54 +10:00
Peter Barker
a1b021e833 Plane: move nav_delay state to be private in ModeAuto 2023-09-13 18:08:10 +10:00
Peter Barker
445f1fa272 Plane: handle DO_CHANGE_SPEED as COMMAND_INT 2023-09-12 09:22:36 +10:00
Andy Piper
761c7a0161 ArduPlane: fix incorrect float conversion 2023-07-18 11:06:02 +10:00
Peter Barker
98e2782851 Plane: correct compilation when AP_Rally disabled 2023-04-10 16:37:42 -07:00
Randy Mackay
c12e15f580 Plane: remove unused do-control-video 2023-03-09 12:24:05 +11:00
Andrew Tridgell
a57e6455ab Plane: use is_armed_and_safety_off() 
this no longer sets soft_armed false when safety is on, and instead
uses is_armed_and_safety_off() when appropriate
 2023-02-21 07:44:09 +11:00
Andrew Tridgell
2989e2deba Plane: added support for NAV_PACKAGE_PLACE mission item 
this works in conjunction with a lua script to allow for a wide
variety of package place options
 2023-02-09 07:02:12 +11:00
Andrew Tridgell
7735614634 Plane: implement set_rudder_offset() 2023-02-08 16:25:39 +11:00
Andrew Tridgell
9b2c7a90e7 Plane: fixed loiter.direction for VTOL approach 
ensure the direction is setup correctly for both CW and CCW
 2023-01-15 21:32:27 +11:00
Andrew Tridgell
97e1c14114 Revert "Plane: default takeoff pitch to 15 deg for PPDS" 
This reverts commit 210dac7356.

this was committed by mistake
 2022-12-24 13:26:31 +11:00
Andrew Tridgell
21c9737ffa Plane: increase NAV_SCRIPT timeout to 1s 
this is needed for processing of very complex schedules
 2022-11-14 20:35:31 +11:00
Peter Barker
de4dda2d17 ArduPlane: change namespace of MultiCopter and FixedWing params 
this stops the libraries knowing anything about AP_Vehicle
 2022-11-09 19:04:37 +11:00
Andrew Tridgell
a94f75fe29 Plane: fixed changing modes causing aerobatics abort 2022-11-07 21:22:43 +11:00
Andrew Tridgell
500ac9b99c Plane: cleanup abort of NAV_SCRIPT 
use the same enable flag for tricks and auto NAV_SCRIPT_TIME and
ensure we disable if the script stops controlling
 2022-10-29 21:22:29 +11:00
Andrew Tridgell
06edc9a139 Plane: constrain throttle in NAV_SCRIPT 2022-10-29 21:22:29 +11:00
Andrew Tridgell
210dac7356 Plane: default takeoff pitch to 15 deg for PPDS 2022-10-29 21:22:29 +11:00
Andrew Tridgell
90459ed6f4 Plane: two more arguments to NAV_SCRIPT_TIME 2022-10-23 18:11:15 +11:00
Andrew Tridgell
2b69124229 Plane: use Float16_t 2022-10-23 12:14:14 +11:00
Michael du Breuil
b7a8852747 Plane: Allow reseting target airspeed to the parameter value 2022-10-04 10:04:13 +11:00
MatthewHampsey
1dc18ec85a Plane: reset yaw rate PID for scripting 2022-09-22 05:55:15 +10:00
Michael du Breuil
f183b21fc5 Plane: Support vtol landing options on NAV_VTOL_LAND 
This allows the same mission to contain both circular and straight
landing items, and doesn't require on the fly tweaking
 2022-08-15 17:05:00 -07:00
Iampete1
ee778dbd3a Plane: Quadplane: add option_is_set helper for Q_OPTIONS 2022-08-09 13:21:00 +10:00
Iampete1
a592f76282 ArduPlane: change AC_FENCE to AP_FENCE_ENABLED 2022-07-27 19:04:56 +10:00
Peter Barker
b0bee613d4 ArduPlane: add and use AP_ICENGINE_ENABLE 2022-07-22 08:48:16 +10:00
Iampete1
98887a984b Plane: FW approach: use abs value for loiter sum check 2022-07-20 17:02:07 +10:00
Iampete1
2bda3c44c6 Plane: FW approach: correct wrap on breakout direction check 2022-07-20 17:02:07 +10:00
Iampete1
2e342d7852 Plane: FW approach: allways use correct loiter direction 2022-07-20 17:02:07 +10:00
Iampete1
7a88dc9348 Plane: VTOL aproach threshold use path proprtion rarther than radius 2022-07-20 17:02:07 +10:00
Andrew Tridgell
5f5f70d20a Plane: fixed check for fixed wing approach QRTL start 
ensure we are lined up, or we are at less than 0.5 of radius before we
switch to QRTL. This fixes the case where the stopping distance is
greater than the radius, prevening us from switching to QRTL while not
lined up with the landing point
 2022-07-13 20:10:19 +10:00
Andrew Tridgell
3385d3ae62 Plane: support NAV_DELAY in plane 
allow for delayed takeoff, and takeoff at a particular time (for swarm
takeoff)

also check for takeoff command in landing sequence arming check

this allows for takeoff->land->disarm->delay->arm->takeoff->land
missions
 2022-07-12 10:34:26 +10:00
Andrew Tridgell
592f33bfaf Plane: fixed combination of passby and acceptance dist WP 
when a user sets a passby distance we should calculate the turn point
based on the extrapolated distance, not the original waypoint

also simplify the passby logic using offset_bearing()
 2022-07-04 10:26:47 +10:00
Randy Mackay
8f54957530 Plane: do-mount-control specifies body-frame targets 
this is a non-functional change
 2022-06-29 10:56:48 +09:00
Peter Barker
d5fdc2027f ArduPlane: support *10 multipler when storing/retrieving radius in NAV_LOITER_TURNS 2022-05-11 17:40:35 +10:00
Henry Wurzburg
e82ad1ec24 ArduPlane: fix error in Tricks on a Switch qualifier 2022-02-08 11:54:38 +11:00
Henry Wurzburg
ea9d35c99d ArduPlane: extend nav_scripting to all modes 2022-02-07 21:19:28 +11:00
Hwurzburg
ad30d476c8 Plane: enforce acro rate limits in aerobatics scripting 2022-02-07 12:35:31 +11:00
Andrew Tridgell
de4a4a775a Plane: fixed use before init bug in VTOL land 
found by Peter Barker with valgrind
 2021-12-01 19:42:42 +11:00
Andrew Tridgell
56870ad7d6 Plane: use yaw rate controller in NAV_SCRIPT_TIME 2021-11-30 16:19:26 +11:00