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2635 Commits

Author SHA1 Message Date
Andrew Tridgell c787f4c56f Plane: initial support for tailsitter transitions 2017-02-18 17:26:43 +11:00
Andrew Tridgell 83f3cee99e Plane: initial hooks for tailsitter support 2017-02-18 17:26:43 +11:00
Andrew Tridgell 4e4f5a7ac9 Plane: allow tailsitters to takeoff with any attitude 2017-02-18 17:26:43 +11:00
Andrew Tridgell 0fc04b0158 Plane: setup plane frame type parameter flags 2017-02-14 19:50:01 +11:00
Andrew Tridgell c294519925 Plane: lower default Q_M_SPOOL_TIME to 0.25 2017-02-14 09:23:17 +09:00
Peter Barker 1d7994e9ba Plane: create GCS_Plane subclass 2017-02-13 17:03:06 +11:00
Peter Barker 98c4b48161 Plane: not in log download upon log erase 
erase is a synchronous operation
 2017-02-13 11:36:16 +11:00
Peter Barker 49bf336539 Plane: Support for a GCS singleton 2017-02-13 09:32:01 +11:00
Peter Barker d060670ba3 Plane: rename gcs[] to gcs_chan[] 
Wish to use gcs() to return the gcs singleton
 2017-02-13 09:32:01 +11:00
Michael du Breuil 29b16dbafd Plane: Refactor to request relative altitudes from AHRS 
Removes the need for plane to do the math for finding the relative height.

Also caches the value at the same time we update current_loc, which is a
non behaviour change as that was the only time you could see a change in
the relative height propegate through the system anyways
 2017-02-13 09:23:14 +11:00
Michael du Breuil f183a2618f Plane: Don't lock home altitude to AHRS origin 2017-02-13 09:23:14 +11:00
Michael du Breuil 7a1cbf76d3 Plane: Remove ALT_MIX 
Closes #4998, and fix a tab/spaces error on the previous parameter
 2017-02-13 09:18:52 +11:00
Dr.-Ing. Amilcar Do Carmo Lucas c4419739c4 Plane: rename MSG_RADIO_OUT to MSG_SERVO_OUTPUT_RAW to better describe what it is 2017-02-07 11:41:12 +11:00
Andrew Tridgell 90d9e74054 Plane: fixed parameter path 2017-02-06 15:12:32 +11:00
Andrew Tridgell 287614b415 Plane: fixed auto-takeoff throttle trigger for inverted launch 
quite an unusual setup, but has been done :-)
 2017-02-01 16:31:49 -08:00
Tom Pittenger 9abb0bba7f Plane: use abs() instead of labs() for int16 2017-01-30 10:43:54 -08:00
Michael du Breuil 2326eee9a0 Plane: Move loiter_radius to vehicle 2017-01-30 10:43:54 -08:00
Andrew Tridgell 5baf37f7a3 Plane: release 3.8.0beta2 2017-01-30 10:29:01 +11:00
priseborough 013eb254a2 Plane: use standard unit descriptor for milliseconds 2017-01-27 16:57:42 +09:00
murata 2492b9db7e Plane: Unify from print or println to printf. 2017-01-27 18:20:22 +11:00
Tom Pittenger 1a34221db9 Plane: remove old commented code 
- leftover from the AP_Landing stage refactor
 2017-01-26 13:45:28 -08:00
Tom Pittenger bdafc2c025 AP_Landing: re/move complete flag into backend 
the complete flag was only ever true during FLIGHT_LAND_FINAL so we just check for that now instead
 2017-01-26 13:11:45 -08:00
Michael du Breuil 4cf1c74c62 AP_Landing + Plane: Check for land complete before requesting disarm 2017-01-26 13:11:44 -08:00
Tom Pittenger 2ccd91d88f AP_Landing: rename stage enum 2017-01-26 13:11:44 -08:00
Tom Pittenger 650e694eb1 Plane: move landing.reset to landing.do_land() 2017-01-26 13:11:44 -08:00
Tom Pittenger 61bc0a6206 Plane: check stage==LAND instead of landing.in_progress 2017-01-26 13:11:44 -08:00
Michael du Breuil 3e66dd10d7 Plane: Move landing stages inside AP_Landing and refactor 2017-01-26 13:11:44 -08:00
Tom Pittenger b570c11e26 AP_Landing: allow separate handling for verify_land() vs verify_abort() 2017-01-26 13:11:43 -08:00
Tom Pittenger e709705ab8 Plane: describe flight stages without using specific stage name 2017-01-26 13:11:43 -08:00
Tom Pittenger 6c0296ba13 AP_Landing: shadow copy of plane flight_stage into landing 
.. and describe stages without using specific stage name
 2017-01-26 13:11:43 -08:00
Andrew Tridgell 07cedd8a66 Plane: prevent stability shutdown in transition 
this prevents the vertical motors from shutting down while
transitioning if the desired throttle was too low at the start of the
transition
 2017-01-25 19:01:15 +11:00
Andrew Tridgell 0d4405106f Plane: removed forcing of trim for motors in quadplane 
this caused problems with tricopter tail servos
 2017-01-25 19:01:15 +11:00
Andrew Tridgell 5c820adad4 Plane: fixed tilt transition with binary tilt servo 
once the tilt is fully fwd then force transition as done at any
airspeed
 2017-01-25 19:01:15 +11:00
Andrew Tridgell 586f8a9ca8 Plane: fixes for tilt quadplane after rebase 2017-01-25 19:01:15 +11:00
Andrew Tridgell 2feaa9926c Plane: prevent fwd motor when throttle in dead zone for tiltrotor 
otherwise we end up with the SPIN_ARMED value
 2017-01-25 19:01:15 +11:00
Andrew Tridgell 54bca768b8 Plane: added Q_TILT_TYPE for retract servo tiltrotors 2017-01-25 19:01:15 +11:00
Michael du Breuil f017073077 Plane: Report battery failsafes via sys_status 2017-01-25 09:26:19 +09:00
Randy Mackay fc4741395d Plane: notify initialised after parameters loaded 2017-01-23 15:07:21 -08:00
Randy Mackay fad2ba608f Plane: send flight mode string to Notify 2017-01-23 15:07:21 -08:00
Randy Mackay af514eb101 Copter: remove some comments 2017-01-23 15:07:20 -08:00
Dmitry Prokhorov 497a4bd4a5 ArduPlane: Support for OLED display by Alexey Kozin 
https://github.com/ArduPilot/ardupilot/pull/5135
 2017-01-23 15:07:20 -08:00
Randy Mackay e906310b71 Plane: rudder_arming moved to AP_Arming_Plane 2017-01-17 11:45:08 +09:00
Randy Mackay 7cc8b7232c Plane: rename arming_checks to AP_Arming 2017-01-17 11:45:08 +09:00
Peter Barker fc28beacea Plane: AP_Arming: use callback in place of variable reference for home state 2017-01-17 11:45:08 +09:00
Tom Pittenger b8784e2c4a Plane: do not crosstrack after a land abort 2017-01-12 15:21:34 -08:00
Andrew Tridgell 3338b4295e Plane: use reload_defaults_file() 2017-01-12 17:39:37 +11:00
Andrew Tridgell 2f100b0804 Plane: removed separate tricopter quadplane build 
can all be done with one build now
 2017-01-12 17:39:37 +11:00
Andrew Tridgell 68504dbcbb Plane: auto-upgrade old parameters for SRV_Channel split 2017-01-12 17:39:37 +11:00
Andrew Tridgell cb4ebdd7b4 Plane: fixed throttle_percentage() 
thanks to Buzz for noticing!
 2017-01-12 17:39:37 +11:00
Andrew Tridgell 6b4e5304cf Plane: fixed mixer outputs 2017-01-12 17:39:37 +11:00
Andrew Tridgell 1879eddfa0 Plane: adjust for limit_slew_rate API change 2017-01-12 17:39:37 +11:00
Andrew Tridgell 081909bf6a Plane: removed use of pwm_to_angle() 2017-01-12 17:39:37 +11:00
Andrew Tridgell b83f50be0f Plane: use new SRV_Channels API 2017-01-12 17:39:37 +11:00
Tom Pittenger 9a250c3bf4 Plane: clarify some variable names and protect against divide-by-zero 2017-01-06 17:35:44 -08:00
Eugene Shamaev ac2880db7c Plane: waypoint logic change for overflow/underflow 2017-01-06 17:35:44 -08:00
Peter Barker af9729c126 Plane: correct compilation when parachute disabled 2017-01-02 20:39:03 -08:00
Peter Barker d40187fac7 Plane: correct compilation when geofence disabled 2017-01-03 00:37:28 +00:00
Peter Barker 4865bec871 Plane: correct compilation when logging disabled 2017-01-02 16:01:29 +09:00
Tom Pittenger 063f517424 Plane, TECS, AP_Landing: rename stage LAND_ABORT to ABORT_LAND 
this will reduce confusion when searching for FLIGHT_LAND_* and you get a bunch of takeoff related hits. It will also make more sense when the landing library fully manages the FLIGHT_LAND stage entirely because it will not mange FLIGHT_LAND_ABORT
 2016-12-30 23:50:03 -08:00
Tom Pittenger 04f32b6ec6 Plane: simplify flight stage landing check to use landing.in_progress 2016-12-30 23:50:03 -08:00
Tom Pittenger 84e11fd899 Plane, AP_TECS: do not pass auto_land flag to TECS, it already knows it 2016-12-30 23:50:03 -08:00
Tom Pittenger c286ceba43 Plane: move enum FlightStages to AP_Vehicle::FixedWing 2016-12-30 23:50:03 -08:00
Tom Pittenger 90b2458a27 Plane: remove redundant flightstage update 2016-12-30 23:44:20 -08:00
Andrew Tridgell 1c4bf77cf6 Plane: added custom conversion of Q_FRAME_CLASS parameter 2016-12-31 10:56:01 +09:00
Randy Mackay 934ef55338 Plane: quadplane instantiates motor matrix outside of case 
Thanks to khancyr for noticing this
 2016-12-31 10:55:23 +09:00
Randy Mackay c6dec5c3f6 Plane: quad plane uses consolidated multicopter classes 2016-12-31 10:55:23 +09:00
Andrew Tridgell 4cf509a693 Plane: fixed EKF3 logging 2016-12-19 08:07:14 +11:00
priseborough 38ad778ff1 make.inc: Add EKF3 and remove EKF1 library from make.inc files 2016-12-19 08:07:10 +11:00
priseborough 38a0e8a6ae ArduPlane: Add EKF3 and remove EKF1 2016-12-19 08:07:09 +11:00
Tom Pittenger b7b56b94a3 Plane: convert landing.complete to landing.is_complete() 2016-12-14 04:32:30 -08:00
Tom Pittenger 4b683edac9 Plane: simplified logic where landing complete overrides the calc value 2016-12-14 04:32:30 -08:00
Tom Pittenger 83f0a8114b Plane: use a common reset for uniform landing wipe 2016-12-14 04:32:30 -08:00
Tom Pittenger 8c1509ad47 Plane: abstract land abort request method 2016-12-14 04:32:30 -08:00
Andrew Tridgell 3dcf4cfb55 Plane: removed resetting integrators on mode change 
this removes the zero of roll, pitch and yaw integrator on mode
change, now only doing the steering integrator.

The zeroing was from the early days when our controllers were not as
good. It should not be needed any more.
 2016-12-14 20:22:56 +11:00
Randy Mackay c3b6fd4315 Plane: fix suppressing comment for case fall through 
No functional change
eclipse stops complaining if no-break is used in place of fall-through
 2016-12-14 13:22:15 +09:00
Randy Mackay 4efbc29490 Plane: pass HIL_GPS to gps driver 2016-12-08 15:52:26 +09:00
Tom Pittenger a3ccca17ff Plane: use fabsf instead of fabs 2016-12-06 17:38:47 -08:00
Tom Pittenger b299b9c0bb Plane: abstract out init_start_nav_cnd work to landing lib 
This reverts commit 1380a35f70.
 2016-12-06 03:45:14 -08:00
Peter Barker 669dc01b67 Plane: correct on_flight_line landing stage check 2016-12-06 03:24:41 -08:00
Andrew Tridgell 1380a35f70 Revert "Plane: abstract out init_start_nav_cnd work to landing lib" 
This reverts commit e2288d5262.

doesn't build
 2016-12-06 17:32:02 +11:00
Tom Pittenger e2288d5262 Plane: abstract out init_start_nav_cnd work to landing lib 2016-12-05 18:44:02 -08:00
Andrew Tridgell 1e691cdefc Plane: fixed build 2016-12-05 16:51:49 -08:00
Pierre Kancir da1f784e78 Plane : quadplane change to float to avoid the loss of a fractional part 2016-12-05 12:39:31 -08:00
Michael du Breuil da400dc643 Plane: Add compass cal capability bit 2016-12-04 19:17:01 -08:00
Tom Pittenger 9dd46aa03a Plane: post msg if aborting via throttle 
fixes https://github.com/ArduPilot/ardupilot/issues/4906
 2016-12-02 17:40:01 -08:00
Tom Pittenger 696828c144 Plane: increase landing airspeed scaled to headwind 2016-12-02 15:35:28 -08:00
Randy Mackay d95baf51c9 Plane: include AP_Beacon 2016-11-30 17:57:01 +09:00
Randy Mackay d9462d5dbc Plane: remove call to EKF1 logging 2016-11-30 17:57:00 +09:00
Randy Mackay 3587961be6 Plane: add AP_Beacon to build 2016-11-30 17:56:59 +09:00
Peter Barker f712dd5d7e Plane: add arming check for logging actually started 2016-11-29 15:14:09 -08:00
Peter Barker 784da9d1eb Plane: check CardInserted in AP_Arming 2016-11-29 15:14:09 -08:00
Peter Barker 98b5ab4656 Plane: remove incorrect comment about logging/in_mavlink-delay 2016-11-29 15:14:09 -08:00
Peter Barker d11578f203 Plane: do not reset LOG_BITMASK when no CardInserted 
This really just confuses everyone
 2016-11-29 15:14:09 -08:00
Peter Barker 17f5ef4610 Plane: inform dataflash of vehicle arm state 2016-11-28 09:42:09 -08:00
Tom Pittenger dc85ffa834 Plane: move jump_to_landing_sequence() to AP_Mission 2016-11-25 19:07:30 -08:00
Tom Pittenger ac1dced3bf Plane: set landing params as private and use accessors 2016-11-25 19:07:30 -08:00
Tom Pittenger 6544afbcba Plane: Migrate the rest of "LAND_" params from Plane to AP_Landing 2016-11-25 19:07:30 -08:00
Tom Pittenger 8a5a62cfdc Plane: migrate aparm "LAND_" params from plane to AP_Landing 2016-11-25 19:07:30 -08:00
Tom Pittenger 9f184a1490 Plane: migrate aparm "LAND_" params from plane to AP_Landing 2016-11-25 19:07:30 -08:00
Tom Pittenger bfbfc3ea3d Plane: migrate aparm "LAND_" params from plane to AP_Landing 2016-11-25 19:07:30 -08:00