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1760 Commits

Author SHA1 Message Date
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
Andrew Tridgell 1c1798fb11 Plane: support much smoother flare transitions 
provide the height above the ground to TECS so it can make a smarter
pre-flare transition
 2015-03-15 13:53:08 +11:00
Andrew Tridgell cac7714693 Plane: fixed parameter typo 2015-03-14 14:53:02 +11:00
Andrew Tridgell b0cdf8952b Plane: added HIL_MODE parameter 
this allows for HIL with any firmware
 2015-03-13 22:52:56 +11:00
Víctor Mayoral Vilches 4ae3bf5399 Plane: Update compass to the new interface 2015-03-13 18:46:17 +11:00
Michael Day b02098e19e Plane: Make radio trim optional at ground start. 2015-03-13 13:11:44 +11:00
Tom Pittenger 420e9e0d2e Plane: added INITIAL_MODE which is the mode we boot up into. 
This is useful when flying without a RX or if you have a RX that
outputs zeros without a detected Txmtr
 2015-03-13 13:04:23 +11:00
Andrew Tridgell a942ebbb70 Plane: removed unnecessary prototype 2015-03-13 11:21:47 +11:00
Andrew Tridgell dc9e2a54f3 Plane: fixed use of HAL soft_armed 2015-03-13 11:20:43 +11:00
Tom Pittenger 659904bf65 Plane: sped up is_flying filter since it is running at only 1Hz 2015-03-13 11:07:19 +11:00
Tom Pittenger 8f7bb61a54 Plane: changed arm check method to use new is_flying code 2015-03-13 11:07:05 +11:00
Tom Pittenger 58b0702793 Plane: isFlying redesign 
The is_flying() function is too simplistic to be used as a generic
status. Added a sticky heuristic method that depends on the arm
state. More thought should go into the boolean result of isFlying but
this is at least safer than the original method.
 2015-03-13 11:06:54 +11:00
Randy Mackay cb1b4ab486 Plane: send EKF_STATUS_REPORT in extra3 stream 2015-03-12 13:43:58 +09:00
Andrew Tridgell 5175f21225 Plane: removed 1D accel calibration 2015-03-12 12:50:29 +11:00
Andrew Tridgell 16cdf64d63 Plane: added CLI_ENABLED option 
this disables using CLI by default, even if compiled in. This is
needed to make standard firmwares work well with companion computers
where the CLI may cause startup issues
 2015-03-09 17:58:37 +11:00
Andrew Tridgell fa70c95c8e Plane: set gyros disabled when calibrating 2015-03-09 17:58:36 +11:00
Andrew Tridgell 8ef8a964f1 Plane: use new interactive accelcal 2015-03-07 21:56:40 +11:00
Andrew Tridgell 999710d0e1 Plane: fixed issue where auto is entered before GPS lock 
thanks to Tom Pittenger for noticing this!
 2015-02-25 22:54:52 +11:00
Andrew Tridgell 98b583bccc Plane: fixed bungee launch 
we need to not do the general purpose throttle suppression if in auto
takeoff
 2015-02-25 13:11:27 +11:00
Andrew Tridgell 5afe3fb958 Plane: mark 3.3.0beta1 2015-02-23 15:07:06 +11:00
Andrew Tridgell 422d0f05bd Plane: provide terrain height to rangefinder 
used for power saving
 2015-02-23 14:15:14 +11:00
Andrew Tridgell 64dfc68784 Plane: log mode on arming 
this ensures the log is recorded with the right flight mode
 2015-02-23 14:15:14 +11:00
Andrew Tridgell 6cf029f82a Plane: fixed to allow TKOFF_THR_DELAY up to 12.7 seconds 
thanks to a report by jman841
 2015-02-21 20:23:22 +11:00
Andrew Tridgell bee703ab2a Plane: removed incorrect conditional on parameter enum 2015-02-21 20:23:22 +11:00
Andrew Tridgell 76f8b9b07c Plane: support DO_SET_HOME MAVLink command 2015-02-21 10:14:18 +11:00
Joao Fortuna 6ac8629451 Plane: Fixed MAVLINK stream trigger calculation. 2015-02-20 13:12:59 +09:00
Andrew Tridgell d0d5524bce Plane: mark ELEVON_MIXING as deprecated 2015-02-19 15:55:30 +11:00
Andrew Tridgell 3f225b1a73 Plane: lower default FS_LONG_TIMEOUT value from 20 to 5 seconds 
20 seconds is too long to be in CIRCLE mode
 2015-02-16 10:03:17 +11:00
Andrew Tridgell e9f87a2626 Plane: implement MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES 2015-02-12 09:04:25 +11:00