Commit Graph

1901 Commits

Author SHA1 Message Date
Andrew Tridgell 0592bd4e6f Plane: update release notes 2015-09-22 09:46:18 +10:00
Andrew Tridgell b735999848 Plane: prepare for beta3 2015-09-22 09:43:39 +10:00
Randy Mackay 6da53ae3b2 Plane: replace SKIP_GYRO_CAL with INS_GYR_CAL
Also calibrate gyros with accel cal and set trim
2015-09-21 17:06:43 +09:00
Andrew Tridgell 9e7c38b933 Plane: moved logging of mode to Log_Write_Vehicle_Startup_Messages
this fixes a problem where the initial mode isn't logged on arming
2015-09-17 20:15:26 +10:00
Andrew Tridgell d019f83bee Plane: allow for higher roll limits on takeoff
only restrict to LEVEL_ROLL_LIMIT below 5m. Above that start to allow
larger roll limits, reaching the full roll limit at 15m
2015-09-17 15:35:37 +10:00
Stewart Loving-Gibbard 2085156a07 Plane: Adding Logging of RSSI data. 2015-09-16 16:41:45 +09:00
Andrew Tridgell 86e8c7ed2f Plane: add some safety to detect bad lidar readings
we only accept a lidar if it changes by 5% of its full range, and we
reject a lidar again if the correction between barometric and lidar
range changes by more than 30m

This allows us to cope with faulty lidars which may give a constant
reading
2015-09-16 14:24:44 +10:00
squilter 7365701d13 Plane: Support do_digicam_x via command_long 2015-09-16 13:06:51 +09:00
Grant Morphett 9a76f0ecf0 Plane: Fixing FS_SHORT_ACTN parameter doco
This is to resolve wiki issue 146
https://github.com/diydrones/ardupilot-wiki-issue-tracker/issues/146
2015-09-16 09:35:38 +09:00
Grant Morphett 6b22a59eff Plane: Fixing up the ARMING_ parameters autogen doco 2015-09-15 14:11:15 +09:00
Andrew Tridgell d43d070e75 Plane: ensure throttle reverse is obeyed in all states
need to use radio_max for failsafe if reversed
2015-09-14 09:42:20 +10:00
Andrew Tridgell 5c055220f5 Plane: cope with bad values of ARMING_REQUIRE 2015-09-14 09:35:53 +10:00
Andrew Tridgell 73f454133b Plane: log RFND packet for multiple rangefinders 2015-09-13 11:29:53 +10:00
Peter Barker 3c0355e9e2 Plane: ensure 10% free space when initialising logging 2015-09-09 12:22:35 +10:00
Staroselskii Georgii db94c8d53d Plane: make Plane use milligauss 2015-09-09 10:38:16 +10:00
Grant Morphett c5c74eebfc Plane: Using the existing function to check for throttle failsafe
No need to duplicate the code if we have an existing function for this
sort of thing.
2015-09-09 10:28:02 +10:00
Grant Morphett a1b96f659b Plane: Fixing issue 302
Using the configured FS_THR_VALUE to check for failsafe instead of
just checking against 50 below throttle min.
2015-09-09 10:28:02 +10:00
Tom Pittenger fc2c94f78f Plane: utilize NAV_CONTINUE_AND_CHANGE_ALT for land abort
when aborting a landing via mode change, check if NAV_CONTINUE_AND_CHANGE_ALT is after LAND. If so, go ahead and execute it. Else, normal behavior or check do_land_start else decrement mission index
2015-09-09 09:32:31 +10:00
Andrew Tridgell 036e1fff12 Plane: a bit more caution in unsuppressing throttle pre-takeoff
require reasonable pitch and definate gps movement. This errs on the
side of not overriding a takeoff command, which could be dangerous
2015-09-09 09:24:54 +10:00
Tom Pittenger fe083c8ffa Plane: consider extended launch throttle delays
use the greater of takeoff_throttle_delay+2s or 5s
2015-09-09 09:14:59 +10:00
Tom Pittenger 4f46c5331a Plane: added time for flying in any mode
- previously we only kept track of starting flying while in auto which gets reset when switching in and out of auto and on takeoff/land. Now we keep track of a "global" one that will track the is_flying flag regardless of the flight mode.
2015-09-09 09:14:59 +10:00
Tom Pittenger a3c51698cb Plane: fix throttle when restarting mission in-flight with takeoff
fixes https://github.com/diydrones/ardupilot/issues/2778
When executing a takeoff, and the throttle is suppressed, but we're already flying, we should unsuppress the throttle. We can get into this situation if we reset the mission in-flight.
2015-09-09 09:14:59 +10:00
Andrew Tridgell 0cc165308d Plane: use 4 degrees if zero takeoff pitch 2015-09-09 09:13:12 +10:00
Andrew Tridgell 953efa9b6c Plane: fixed parameter docs for LAND_ABORT_THR
it should be a values list
2015-09-09 09:08:59 +10:00
Tom Pittenger d36ee786e4 Plane: init hold_course in do_takeoff 2015-09-09 09:04:24 +10:00
Tom Pittenger 25da4ec0ea Plane: added flight stage FLIGHT_LAND_ABORT and abort mechanism
- enabled via new param LAND_ABORT_THR default is 0 (disabled)
- Triggered via 95% throttle during landing, a landing abort will take place.
- This copies all takeoff params for right now, we can make this better later if needed
- added mission item command to NAV_LAND which is the abort takeoff altitude. If 0 then use last takeoff if available, else use 30m
- hold heading, just like takeoff, until altitude is reached
- pitch is constrained to takeoff pitch, or else 10deg if not available
- After abort altitude is reached, the normal landing restart happens (DO_LAND_START or decrement mission)
- restart landing by jumping to DO_LAND_START or decrement mission on mode change
2015-09-09 09:04:24 +10:00
Grant Morphett e734e9745d Plane: TKOFF_TDRAG_SPD1 is needed if holding nose wheel down.
Just clearing up the documentation as per this wiki issue
https://github.com/diydrones/ardupilot-wiki-issue-tracker/issues/138
2015-09-08 17:31:09 +10:00
Tom Pittenger 6e55b44b63 Plane: change NAV_CONTINUE_AND_CHANGE_ALT behavior
Use waypoint bearing if available, otherwise use gps projected ahead 1km else yaw
Perform update before making decision to finish cmd so it always executes
2015-09-08 17:05:54 +10:00
Andrew Tridgell 0a66fcce20 Plane: fix for changed AP_RangeFinder API 2015-09-08 16:46:52 +10:00
Andrew Tridgell 05192ea9ab Plane: added severities to send_statustext_all 2015-09-08 14:29:55 +10:00
Andrew Tridgell f92f46ee99 Plane: update for changed AP_Arming API 2015-09-08 13:54:45 +10:00
Grant Morphett f953f03916 Plane: Fixing issue 327 - reporting Baro alt instead of GPS 2015-09-08 09:40:39 +10:00
Grant Morphett 3cb0c1bba8 Plane: Move the plane centric arming code into arming_checks.cpp
Needed to move the plane centric arming code out of the AP_Arming
library and into the plane vehcile code.
2015-09-07 11:54:21 +10:00
Andrew Tridgell e12c20bd22 Plane: prepare for 3.4.0-beta2 release 2015-09-07 09:30:34 +10:00
Andrew Tridgell 16d06ef0a9 Plane: set throttle trim to min on startup
this prevents possibly motor startup for bad RC3_TRIM values
2015-09-07 09:17:22 +10:00
Andrew Tridgell 2d60934335 Plane: require 5 channels to run failsafe passthrough 2015-09-07 09:16:14 +10:00
Randy Mackay 8c1212d4a6 Plane: support do-mount-control via command-long 2015-09-06 16:01:31 +09:00
Siddharth Bharat Purohit aea1db7348 ArduPlane: implement on-board compass cal for arduplane 2015-09-03 16:59:14 +10:00
Peter Barker c2d61391ef Plane: DFMessageWriter; ability to trickle messages out to DF 2015-09-03 15:20:20 +10:00
Gustavo Jose de Sousa a6bdee076e ArduPlane: remove comments identifying task
We don't need those comments anymore, now that we log the task name. Also,
keeping the comments means that we need to fix them when tasks are added in the
middle, not to mention the problem with tasks that are added selectively (i.e.,
guarded by preprocessor directives).
2015-09-01 20:22:19 +10:00
Gustavo Jose de Sousa 36b457a536 ArduPlane: use function name for AP_Scheduler task name
That makes it easier to identify tasks when debug is enabled in AP_Scheduler.
2015-09-01 20:22:18 +10:00
Gustavo Jose de Sousa b0258d902c ArduPlane: use designated initializers for tasks structs
Makes code less prone to break build and semantics (e.g., when a new field is
added).
2015-09-01 20:22:18 +10:00
Tom Pittenger 81f8358705 Plane: restart landing by jumping to DO_LAND_START or decrement mission
only takes effect on mode change
2015-08-29 21:17:35 +10:00
Stewart Loving-Gibbard 722dd29370 Plane: Moving to RSSI library for reading various kinds of RSSI, with the possibility of adding more.
* Retains ability to read from Analog Pin
* Adds ability to read RSSI from PWM channel value as is done in OpenLRSng, EazyUHF, and various other LRS.
* Handles any type of RSSI that provides RSSI values inverted - i.e. when the low value is the best signal and the high value is the worst signal.
* Has different key names from all existing RSSI parameters to provide for a clean break and easier distinguishing.
* Existing parameters are marked as obsolete
2015-08-29 08:05:59 +10:00
Randy Mackay 4bf36d787b Plane: use labs for int32 values 2015-08-28 13:14:50 +10:00
Randy Mackay cc68260478 Plane: sanity check do-set-home, do-set-ROI and fence-point locations 2015-08-28 13:14:38 +10:00
squilter 583c087eca Plane: update severities 2015-08-28 10:04:35 +10:00
André Kjellstrup d4ed30a023 Plane: releasenotes update 2015-08-28 10:03:16 +10:00
Randy Mackay e4c62811ea Plane: fix link to BATT parameter descriptions 2015-08-26 11:17:55 +09:00
Tom Pittenger ee9a66bd02 Plane: fix compiler warning re double promotion 2015-08-25 16:45:52 +09:00
Grant Morphett dda229aecd Plane: Added include guards for Plane.h 2015-08-25 13:54:16 +09:00
Tom Pittenger fed50aa5c5 Plane: is_crashed flag gets reset too easily
This behavior is excessively paranoid about clearing the flag so now it's extra sticky. You can only clear the is_crashed flag when:
- changing modes
- starting to execute a takeoff wp (if mission/index gets reset while still in auto)
- while in takeoff and throttle is suppressed it's held false

behavior that was removed:
- clear flag when starting to execute any nav cmd (reached next wp)
- if while crashed, you "start flying again" (non-sticky)
2015-08-24 20:00:12 +10:00
Tom Pittenger e1d566f9e7 Plane: simulator sets is_crashed
due to zero-ish vibration in SITL, the is_flying check thinks you're not flying, and this thinks you crashed. This is a SITL specific problem but it brings to light that *if* someone actually had a very low vibration aircraft we don't want to crash them. So, the vibe test has been removed for now. A better test is a variance on the accel
2015-08-24 00:32:41 -07:00
Andrew Tridgell 019f2af930 Plane: fixed build with HIL disabled 2015-08-23 22:21:51 +10:00
Tom Pittenger f4f111775e Plane: Log height of zero instead of old value 2015-08-23 16:55:08 +10:00
ziltoid2 b9dd6b7aac Plane: prevent delayed compass HIL data from disabling compass at system startup only 2015-08-23 16:48:48 +10:00
Tom Pittenger 37336bbbe1 Plane: moved is_flying related code to its own file 2015-08-23 10:34:19 +10:00
Tom Pittenger 204ff7b158 Plane: move statics into new struct
removed default case statements
2015-08-23 10:34:18 +10:00
Tom Pittenger 6d0ad05192 GCS_Mavlink: added is_crashed to mavlink heartbeat status which shows EMERGENCY 2015-08-23 10:34:18 +10:00
Tom Pittenger da8f4f9e95 Plane: reworked is_flying
add crash detection, allow disengage via param CRASH_DETECT
improved is_flying behavior
take off, landing and hard-landing improvements
add stillness check to is_flying and log it
minimum airspeed is determined ARSPD_FBW_MIN*0.75
2015-08-23 10:34:18 +10:00
squilter d421644f3a Plane: define and send FIRMWARE_VERSION 2015-08-23 09:21:57 +09:00
Michael Day f20beecb0b Plane: Climb/descent "intent" param with CONTINUE_AND_CHANGE_ALT
Param 1 of CONTINUE_AND_CHANGE_ALT now denotes which direction the
user expects the plane to travel when changing altitude:

0 = no expectation, command completes when within 5 m of altitude.
1 = climb expected, command completes at or above altitude.
2 = descent expected, command completes at or below altitude.
2015-08-20 11:37:17 +10:00
Andrew Tridgell f66174a1ce Plane: improved 3.4.0 release notes 2015-08-20 11:30:28 +10:00
Andrew Tridgell 0c833b76b7 Plane: update release notes for 3.4.0beta1 2015-08-20 11:11:28 +10:00
Andrew Tridgell b1f810fbb9 Plane: prepare plane 3.4.0beta1 release 2015-08-20 10:53:48 +10:00
Tom Pittenger 86e3116fb6 Plane: implement try send mission_item_reached
clean up unreachable code
2015-08-19 15:42:07 +10:00
Tom Pittenger f1eb2f88df Plane: post "Distance from LAND point" on every land
- waits until disarm after a land
2015-08-18 17:20:20 +10:00
Stewart Loving-Gibbard eb2ca91f1c Plane: Fixing unambiguous spelling errors in Parameters.cpp file.
These are user-visible in Mission Planner and the like.
2015-08-18 17:16:19 +10:00
Andrew Tridgell 6186b7a453 Plane: disable TRIM_RC_AT_START by default 2015-08-15 19:13:30 +10:00
Andrew Tridgell cc96f80f02 Plane: make TRAINING mode obey stall prevention roll limits
Fixes issue#2014
2015-08-14 13:36:21 +10:00
Andrew Tridgell ac2e1552b2 Plane: don't do battery failsafe when disarmed 2015-08-14 13:17:48 +10:00
Andrew Tridgell 58e829553f Plane: prevent build error with MSG_RPM 2015-08-12 15:03:52 +10:00
Andrew Tridgell f2c1010501 Plane: prevent mode switch changes changing WP tracking
this fixes a bug where a mode switch change during an AUTO mission
which does not change the flight mode would cause cross tracking to be
reset, so the plane will not correctly follow the desired track

Many thanks to Michael Du Breuil for the log that showed this bug
2015-08-12 14:42:49 +10:00
Gustavo Jose de Sousa 93c80b03ae ArduPlane: standardize inclusion of libaries headers
This commit changes the way libraries headers are included in source files:

 - If the header is in the same directory the source belongs to, so the
 notation '#include ""' is used with the path relative to the directory
 containing the source.

 - If the header is outside the directory containing the source, then we use
 the notation '#include <>' with the path relative to libraries folder.

Some of the advantages of such approach:

 - Only one search path for libraries headers.

 - OSs like Windows may have a better lookup time.
2015-08-11 16:28:40 +10:00
squilter c24ba83fb1 Plane: init vehicle capabilities 2015-08-05 16:08:49 +09:00
Przemek Lekston ca915d9928 Plane: fix "logging disabled" build. 2015-08-03 10:07:52 +10:00
Grant Morphett c87929e907 Plane: Fix landing to stop divide by zero if params are 0
If someone mistakenly puts all 0's in their LAND command then
total_distance will be calculated as 0 and cause a divide by 0 error
below thus crashing ArduPilot.  Lets avoid that.
2015-08-03 09:53:48 +10:00
Andrew Tridgell 1b13be4ad7 Plane: disable camera logging when camera support disabled 2015-07-30 12:17:48 +10:00
Andrew Tridgell 6e0057778b Plane: remove unused file 2015-07-30 11:14:39 +10:00
Andrew Tridgell 9f9080983b Plane: trim out some log msgs on APM2
save a bit more flash
2015-07-30 11:14:06 +10:00
Andrew Tridgell 49f7adcc80 Plane: re-enable geofencing on APM2
it only just fits ...
2015-07-30 11:04:31 +10:00
Andrew Tridgell 6c07795b63 Plane: added HIL_SUPPORT define
disable HIL support on APM2 to save flash space
2015-07-30 11:04:31 +10:00
Andrew Tridgell 8f0e7e0693 Plane: fixed above_location_current() for non-terrain alt
thanks to Lekston for finding the bug (PR#2610)
2015-07-29 08:20:23 +10:00
Andrew Tridgell 58fa38cc12 Plane: allow rudder disarm based on ARMING_RUDDER parameter 2015-07-23 21:48:50 +10:00
pepevalbe da41d85433 Plane: It is possible to disarm with left rudder.
Using is_flying() avoid accidentally disarming while flying.
2015-07-23 21:48:44 +10:00
Przemek Lekston 4b38d444dd Plane: fix default behaviour of flaps. 2015-07-23 15:28:08 +10:00
Przemek Lekston 6a62b11536 Plane: fix LOITER_TO_ALT to verify headings towards waypoints within the loiter radius.
Whenever next waypoint is within the loiter radius, maintaining loiter would prevent us from ever pointing toward the next waypoint. Hence for very close waypoints loiter_to_alt becomes verified by the altitude only.
2015-07-23 15:24:43 +10:00
Grant Morphett cc6a981b12 Plane: deleted the old command_description.txt file which isn't used. 2015-07-21 16:31:24 +09:00
Andrew Tridgell 51bdbea745 Plane: fixed format for ARM message 2015-07-20 09:46:19 +10:00
Randy Mackay b670988e05 Plane: log IMUDT 2015-07-14 13:31:56 +09:00
Andrew Tridgell 266857c595 Plane: avoid linking optflow on APM2
not used, just taking memory
2015-07-10 16:46:30 +10:00
Lucas De Marchi e97034f8e9 ArduPlane: use ARRAY_SIZE macro 2015-07-07 07:56:30 +10:00
Randy Mackay 76ccf4043e Plane: log ahrs home and ekf origin 2015-07-06 12:11:56 +09:00
Tom Pittenger f1ee129423 Plane: compiler warnings
- float to double in gcs_send_test (x2)
- float to bool
2015-07-06 09:30:19 +10:00
Andre Kjellstrup edc32092ce Plane: Do not run long_failsafe during final or landing. 2015-07-02 14:28:45 +10:00
Andre Kjellstrup 9d525d4382 Plane: Do not run FailSafe if on final approach or landing.
A failsafe (Circle, RTL) would easily become a disaster if trigged
during approach or final.
2015-07-02 14:28:45 +10:00
Andre Kjellstrup baf4989a80 Plane: Ignore low voltage failsafe during landing
Log it, but do not switch to RTL if already in final or landing.
2015-07-02 14:28:44 +10:00
Peter Barker 3fce7eb21a Plane: use common mission logging code 2015-06-30 16:23:35 +10:00
Peter Barker bbfe67fe2a Plane: use common system information logging 2015-06-30 16:23:34 +10:00
Peter Barker 7f0a0cf64f Plane: DataFlash frontend/backend split 2015-06-26 16:02:50 +10:00