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3810 Commits

Author SHA1 Message Date
Andrew Tridgell
ad14e153e8 Plane: fixed tilt vectoring to cope with large tilt angles 
This uses vectoring for both roll and yaw when tilted, and uses
differential thrust for yaw when tilted
 2020-12-16 08:45:11 +11:00
Peter Barker
1307a2fea8 ArduPlane: add auxillary function to change to FBWA 2020-12-15 19:14:33 +11:00
Habibullah Oladepo
739fec001f Plane: Fix typos in Parameters.cpp 2020-12-13 10:51:38 -08:00
Tom Pittenger
04f6b2e26e Plane: remove unnecessary ::cork() in init 2020-12-11 17:48:11 +11:00
yaapu
141010ac39 ArduPlane: added virtual getters for waypoint info 2020-12-10 12:39:44 +11:00
Tom Pittenger
4a35159cba Plane: reset baro_takeoff_alt while disarmed 2020-12-09 18:17:53 +11:00
Andrew Tridgell
cd2f2f96eb rename barometer parameters to BARO prefix 2020-12-08 13:22:17 +11:00
Peter Barker
719ca3f95f Plane: be consistent about strings in fence auto-enable/disable 2020-12-08 12:26:35 +11:00
Andrew Tridgell
2d0201855e ArduPlane: moved init_safety to AP_Vehicle 2020-12-08 11:14:24 +11:00
Peter Barker
5fae2652ab ArduPlane: let AHRS get the airspeed sensor from the singleton 2020-12-07 15:57:28 -08:00
Hwurzburg
8658023dad Plane: Add lower CHECK_SCALE defaults for QuadPlane 2020-12-07 11:49:01 +11:00
Andrew Tridgell
cd6ddf7d4f Plane: fixed disable of geofence on quadplane landing 
fixes #15917
 2020-12-02 18:33:07 +11:00
Andrew Tridgell
52f61c7ac1 Plane: make FENCE_AUTOENABLE an AP_Enum 2020-12-02 18:33:07 +11:00
Andrew Tridgell
d984ddc163 Plane: apply circular limits to QLOITER pilot angles 
This uses the same logic as Copters get_pilot_desired_angle() to apply
a circular limit and the limits in Q_ANGLE_MAX and Q_LOIT_ANG_MAX to
loiter pilot angles.

Co-authored-by: Kris <kris968658@gmail.com>
 2020-12-01 11:22:49 +11:00
Hwurzburg
3cdcce2123 ArduPlane: add inflight airspeed cal rc switch 2020-11-25 21:30:15 +11:00
Gone4Dirt
70246059ed Plane: Move AP_Generator to AP_Vehicle 2020-11-24 12:54:52 +11:00
Iampete1
0e50023593 Plane: tailsitter: use true hover throttle in VTOL transision. 2020-11-18 19:33:21 +11:00
Iampete1
dd3ac893b3 Plane: dont use VTOL throttle percentage in tailsitter vtol transisiton 2020-11-18 19:33:21 +11:00
Hwurzburg
5e8e088978 ArduPlane:Add safety limit on tailsitter VTOL transition throttle 
Co-authored-by: Peter Hall <33176108+IamPete1@users.noreply.github.com>
 2020-11-17 11:21:17 +11:00
Iampete1
42887891be Plane: tailsitter: make sure alt target is abover current alt 2020-11-17 10:15:27 +11:00
Iampete1
f480f4e946 Plane: tailsitter: fix Qassist back - transision 2020-11-17 10:15:27 +11:00
Iampete1
c03de6bdbe Plane: log Qassist state 2020-11-17 10:15:27 +11:00
Andy Piper
fa454da315 Plane: allow OSD for TX-only screens 2020-11-11 18:13:11 +11:00
Andrew Tridgell
eea62bf733 Plane: added optional ground effect compensation for quadplanes 
this allows for landings in aircraft badly effected by ground effect
to be compensated for
 2020-11-10 12:05:48 +11:00
giacomo892
9b4441011c ArduPlane: Fix throttle nudge reset due to wrong radio timing 2020-11-10 10:20:23 +11:00
Mark Whitehorn
c054218568 Plane: report quadplane setup errors in config_error loop 2020-11-05 15:04:10 +11:00
Iampete1
2d80dcd937 Plane: remove tailsitter VTOL transition race condition 2020-11-04 18:34:00 +11:00
Iampete1
5f67f8130b Plane: tailsitters use Z stopping point on transition 2020-11-04 18:34:00 +11:00
Iampete1
024d2b7435 Plane: always output flaperons and dspoilers 2020-11-03 10:44:07 +11:00
Iampete1
b225ae43ab Plane: always log tailsitter scalefactor 2020-11-03 10:38:51 +11:00
Iampete1
840f129153 Plane: remove unused tailsitter scailing option 2020-11-03 10:38:51 +11:00
Andrew Tridgell
e5d580412e Plane: fixed usage of rangefinder in landing with RNGFND_LANDING=0 
this fixes two places where rangefinder can affect landing when
RNGFND_LANDING=0
 2020-11-03 10:08:00 +11:00
Iampete1
e6ba53856a Plane: tailsitter: ask for FW state don't check 2020-10-27 11:04:52 +11:00
Hwurzburg
cf055fd1e0 Plane: add midposition to flare RC option sw 2020-10-27 10:47:07 +11:00
Mark Whitehorn
85480c8865 Plane: update frame_type parameter description 2020-10-27 10:24:20 +11:00
Randy Mackay
0362895720 Plane: integrate ahrs::get_variances change 
offset is no longer returned
 2020-10-21 08:58:45 +09:00
Iampete1
8885aa255d Plane: correct logger Message spelling error 2020-10-14 08:17:25 +11:00
Iampete1
916b35eec8 Plane: add EAS2TAS to CTUN 2020-10-13 15:18:36 +11:00
Hwurzburg
b61ee34b6b ArduPlane: add RC option for landing flare 2020-10-13 11:36:19 +11:00
Samuel Tabor
9eef30294f Plane: Separate soaring update in mode_thermal to avoid loop rate issues. 2020-10-13 10:25:32 +11:00
Samuel Tabor
31c681c1cf Plane: Move soaring functions to mode_thermal. 2020-10-13 10:25:32 +11:00
Iampete1
2820228ad6 Plane: only do_change_speed within FBW min and max 2020-10-13 10:21:52 +11:00
Iampete1
2acbef5579 Plane: tailsitters in VTOL transition use FW rates 2020-10-13 10:07:05 +11:00
Iampete1
0201692eeb Plane: Q_OPTION to disable synthetic airspeed assist 2020-10-07 18:20:08 +11:00
Randy Mackay
60b4953751 Plane: integrate ahrs.pre_arm_check 2020-10-07 11:53:07 +11:00
Randy Mackay
eeaf135cca AP_Arming: integrate ahrs.pre_arm_check 2020-10-07 11:53:07 +11:00
Randy Mackay
92f34a19d3 Plane: integrate parachute check_sink_rate 
this was previously part of the update function.  It can be run before or after the update
 2020-10-06 16:14:59 +11:00
Peter Barker
2783257aa4 Plane: correct compilation when logging disabled 2020-10-06 11:25:09 +11:00
Andrew Tridgell
9f3afe5434 Plane: update release notes for 4.0.7beta1 2020-10-02 15:16:40 +10:00
Iampete1
fb467da473 Plane: use Plane target yaw for ATT log 2020-09-30 18:15:42 +10:00
Iampete1
6621b69836 Plane: log quadplane transision state 2020-09-30 18:15:42 +10:00
Iampete1
f972d3dc2f Plane: Quadplane: tailsitter only change view once transision is complete 2020-09-30 18:15:42 +10:00
Iampete1
b61cf72b8c Plane: tailsitters in Qassist inherit motor state 2020-09-30 18:12:44 +10:00
Andrew Tridgell
cfcd17f0d1 Plane: fixed bug in RC_Channel::has_valid_input 
needs to go false when no RCIN and THR_FAILSAFE=2. This prevents ICE
library from using RC input
 2020-09-29 10:43:41 +10:00
Samuel Tabor
589382cbb4 Plane: Add THERMAL mode to Parameters.cpp metadata. 2020-09-25 11:34:48 -07:00
Hwurzburg
8c856b3ed2 Plane: Add missing Q_OPTIONS metadata for all options 2020-09-25 13:43:59 +10:00
Andy Piper
d16872cca5 Plane: compile out ADSB mode if required 2020-09-24 08:22:16 -07:00
Samuel Tabor
10111f92d5 Plane: Rename SOARING_ENABLED to HAL_SOARING_ENABLED and don't compare to ENABLED. 2020-09-24 07:30:48 +10:00
Samuel Tabor
0a738395fa Plane: Add THERMAL mode for thermal soaring. 2020-09-24 07:30:48 +10:00
Patrick José Pereira
c19801d420 ArduPlane: Use new AP_FWVersionDefine header 
Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
 2020-09-23 20:58:35 +10:00
Peter Barker
15372e9213 ArduPlane: replace '@User: User' with '@User: Standard' 2020-09-22 14:56:04 +10:00
Tatsuya Yamaguchi
c67a924801 Plane: replace message indicating that initialisation has completed 2020-09-22 09:52:52 +10:00
Andy Piper
c057be8ed1 Plane: conditionally compile ADSB support 2020-09-22 09:33:51 +10:00
Iampete1
fc67c2c13b Plane: check AP_Motors has init correcly for Quadplanes 2020-09-22 09:12:14 +10:00
Tom Pittenger
db10ad2e54 Plane: update USE_REV_THR param description to include landing pattern 2020-09-17 07:31:43 -07:00
Tom Pittenger
c4ab7caa33 Plane: add reverse_thrust option when in landing pattern 2020-09-17 07:31:43 -07:00
Samuel Tabor
e0f524d425 Plane: Soaring: Use circling time as timeout if less than 20s. 2020-09-10 09:18:52 -07:00
Samuel Tabor
ad48394b50 Plane: Add comment to clarify additional 10m in soaring altitude target. 2020-09-10 22:21:41 +10:00
Samuel Tabor
87530c1b2b Plane: Soaring: Remove exit_mode argument from soaring_restore_mode. 2020-09-10 22:21:41 +10:00
Samuel Tabor
59f4c7a3c0 Plane: Allow auto climb back to SOAR_ALT_CUTOFF when soaring in FBWB or CRUISE modes. 2020-09-10 22:21:41 +10:00
Samuel Tabor
9f5b068d9e Plane: Handle EXIT_COMMANDED return status in soaring. 2020-09-08 16:54:45 -07:00
Andrew Tridgell
e9b8a20312 Plane: fixed hover learn in quadplanes for THR_MIN>0 
petrol quadplanes commonly have THR_MIN>0, and without this change
cannot ever learn the hover throttle
 2020-09-08 11:09:25 +10:00
Mark Whitehorn
629f2153e0 Plane: move arming delay logic into AP_Arming_Plane 2020-09-08 10:54:42 +10:00
Mark Whitehorn
2b4772269d Plane: tiltrotors: allow vectored yaw motor tilt when disarmed 
add disarm tilt delay
add arming delay
add Q_OPTIONS for disarmed motor tilt and delayed arming
add comment explaining arming delay option
eliminate millis() wrap in arming delay
 2020-09-08 10:54:42 +10:00
Mark Whitehorn
bcdd16025b Plane: replace AP_MotorsMatrixTS with AP_MotorsMatrix 2020-09-08 10:50:31 +10:00
Hwurzburg
96f5e2a20a Plane: Update THR_FAILSAFE param metadata 2020-09-04 07:08:03 +10:00
Samuel Tabor
93bcfc4c3e Plane: Assign flap channel in set_control_channels() to avoid expensive call in set_servos_flaps(). 2020-09-03 07:55:51 +10:00
Samuel Tabor
590ebb180c Plane: Update airbrake channel assignment in set_control_channels() to avoid expensive call in airbrake_update() 2020-09-02 10:10:09 -07:00
Samuel Tabor
f1290a2e17 Plane: Add use of airbrakes, used when throttle is negative OR via RC channel option. 2020-09-02 10:10:09 -07:00
Iampete1
abee62abc4 Plane: use throttle in for transition max comparison 2020-08-30 18:19:40 +10:00
Peter Barker
75aa8b7e6e Plane: log speed scaler into AETR 2020-08-29 18:52:46 +10:00
Andrew Tridgell
bf0f359445 Plane: fixed LOITER_TO_ALT with terrain target 
many thanks to Pompecukor for finding this!

Fixes #14951
 2020-08-25 10:39:18 +10:00
Samuel Tabor
67c152cef2 Plane: Move cruise state into cruise flight mode. 2020-08-22 09:30:15 +10:00
Samuel Tabor
334fd4afbc Plane: Remove update_navigation() method. 2020-08-20 13:02:06 +10:00
Samuel Tabor
836be4b4b4 Plane: Remove _navigate indirection in Mode. 2020-08-20 13:02:06 +10:00
Samuel Tabor
6a27866df4 Plane: Call plane.update_loiter() rather than plane.mode_loiter.navigate(). 2020-08-20 13:02:06 +10:00
Samuel Tabor
06eea6ed9f Plane: Move navigation functions into flight mode classes. 2020-08-20 13:02:06 +10:00
Siddharth Purohit
fb180fa431 Plane: move to using CANManager library 2020-08-19 17:31:09 +10:00
Peter Barker
306eaf4d03 ArduPlane: use an enumeration for the AP_Avoidance recovery action 2020-08-19 11:38:19 +10:00
Mark Whitehorn
ee65940dfa Plane: enable yaw in qstabilize:air_mode at zero throttle 2020-08-13 08:47:27 +10:00
Mark Whitehorn
4630e9af30 Plane: add Mode::is_vtol_man_mode 
and make use of is_vtol_mode in in_vtol_mode
 2020-08-13 08:47:27 +10:00
Mark Whitehorn
e22d9398d3 Plane: add AirMode RC option for quadplanes 
add Q_OPTION for AirMode (auto-enabled if RCx_OPTION ARMDISARM assigned)
    bugfix: manual throttle mix for qacro
    qualify auto airmode on/off
    add Air Mode to Plane RC_OPTION metadata
    restrict airmode to manual throttle modes
    add qhover to manual throttle mix
    move air_mode from Plane to QuadPlane
    add Mode::is_vtol_man_throttle()
 2020-08-13 08:47:27 +10:00
Michael du Breuil
99ad126986 Plane: Fix redundant call to SpdHgt_Controller->get_land_airspeed() 2020-08-11 09:47:24 +10:00
Andrew Tridgell
3c705d1c60 Plane: added THR_FAILSAFE=2 option 
this allows for RC inputs to be ignored at low throttle, but won't
trigger failsafe. It is meant for users flying BVLOS missions, where
they want GCS failsafe enabled, but don't want RC failsafe, and want
to be sure that RC inputs will be ignored at low RC throttle values

Thanks to suggestion from Pompecukor
 2020-08-07 14:01:20 +10:00
Samuel Tabor
aa776b06a4 Plane: Use sq() rather than powf() in soaring.cpp. 2020-08-05 11:58:54 +10:00
Samuel Tabor
b2d63c5049 Plane: Refactor soaring.cpp. 2020-08-05 11:58:54 +10:00
Peter Barker
ac85ec9924 Plane: log AHRS synthetic airspeed 2020-08-04 23:12:03 +10:00
Andrew Tridgell
6466912ac0 Plane: don't crosstrack after AUTO VTOL takeoff 2020-08-04 09:26:08 +10:00
Andy Piper
b649afe9e5 Plane: make mount/gimbal inclusion configurable per-board 2020-08-04 09:18:14 +10:00
Tom Pittenger
c7c9461fc0 Plane: update ModeReasons to not use UNKNOWN reason 2020-07-28 11:52:39 -07:00